RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors

  • Hafez FaraziEmail author
  • Philipp Allgeuer
  • Grzegorz Ficht
  • André Brandenburger
  • Dmytro Pavlichenko
  • Michael Schreiber
  • Sven Behnke
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 9776)


The trend in the RoboCup Humanoid League rules over the past few years has been towards a more realistic and challenging game environment. Elementary skills such as visual perception and walking, which had become mature enough for exciting gameplay, are now once again core challenges. The field goals are both white, and the walking surface is artificial grass, which constitutes a much more irregular surface than the carpet used before. In this paper, team NimbRo TeenSize, the winner of the TeenSize class of the RoboCup 2016 Humanoid League, presents its robotic platforms, the adaptations that had to be made to them, and the newest developments in visual perception and soccer behaviour.



We acknowledge the contributions of igus\(^\circledR \) GmbH to the project, in particular the management of Martin Raak towards the robot design and manufacture. This work was partially funded by grant BE 2556/10 of the German Research Foundation (DFG).


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Copyright information

© Springer International Publishing AG 2017

Authors and Affiliations

  • Hafez Farazi
    • 1
    Email author
  • Philipp Allgeuer
    • 1
  • Grzegorz Ficht
    • 1
  • André Brandenburger
    • 1
  • Dmytro Pavlichenko
    • 1
  • Michael Schreiber
    • 1
  • Sven Behnke
    • 1
  1. 1.Autonomous Intelligent Systems, Computer ScienceUniversity of BonnBonnGermany

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