The article discusses the upgrades made to the humanoid soccer system NimbRo, which led to its victory at the RoboCup 2023. The upgrades included an updated model architecture for visual perception, extended fused angles feedback mechanisms, and a new COM-ZMP controller for walking robustness. Furthermore, the team developed parametric in-walk kicks through waveforms. These improvements led to a better performance compared to the previous year and resulted in the team winning the AdultSize soccer competition of the Humanoid League.
Publication date: 12 Jan 2024
Project Page: https://ais.uni-bonn.de
Paper: https://arxiv.org/pdf/2401.05909
