The article presents the improvements made to the humanoid soccer system, NimbRo, leading them to win the RoboCup 2023. The upgrades include an updated model architecture for visual perception, extended fused angles feedback mechanisms, and an additional COM-ZMP controller for walking robustness, and parametric in-walk kicks through waveforms. These updates resulted in an improved performance at RoboCup 2023, compared to the previous year.
Publication date: 12 Jan 2024
Project Page: https://ais.uni-bonn.de
Paper: https://arxiv.org/pdf/2401.05909
