RoboCup 2016 Humanoid TeenSize Winner NimbRo: Robust Visual Perception and Soccer Behaviors
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).
- 1.Allgeuer, P., Farazi, H., Schreiber, M., Behnke, S.: Child-sized 3D Printed igus Humanoid Open Platform. In: Proceedings of 15th IEEE-RAS International Conference on Humanoid Robots (Humanoids), (Seoul, Korea) (2015)Google Scholar
- 3.Farazi, H., Allgeuer, P., Behnke, S.: A monocular vision system for playing soccer in low color information environments. In: 10th Workshop on Humanoid Soccer Robots, IEEE-RAS International Conference on Humanoid Robots (Korea) (2015)Google Scholar
- 4.Laue, T., De Haas, T.J., Burchardt, A., Graf, C., Röfer, T., Härtl, A., Rieskamp, A.: Efficient and reliable sensor models for humanoid soccer robot self-localization. In: Fourth Workshop on Humanoid Soccer Robots, pp. 22–29 (2009)Google Scholar
- 5.Schulz, H., Strasdat, H., Behnke, S.: A ball is not just orange: using color and luminance to classify regions of interestGoogle Scholar
- 7.Dalal, N., Triggs, B.: Object detection using histograms of oriented gradients. In: Pascal VOC Workshop, ECCV (2006)Google Scholar
- 10.Behnke, S.: Online trajectory generation for omnidirectional biped walking. In: Proceedings of 2006 IEEE International Conference on Robotics and Automation (ICRA) (2006)Google Scholar
- 11.Missura, M., Behnke, S.: Self-stable omnidirectional walking with compliant joints. In: 8th Workshop on Humanoid Soccer Robots, Humanoids (2013)Google Scholar
- 12.Allgeuer, P., Behnke, S.: Fused angles: a representation of body orientation for balance. In: International Conference on Intelligent Robots and Systems (IROS) (2015)Google Scholar
- 14.Allgeuer, P., Behnke, S.: Omnidirectional bipedal walking with direct fused angle feedback mechanisms. In: Proceedings of 16th IEEE-RAS International Conference on Humanoid Robots (Humanoids), (Cancún, Mexico) (2016)Google Scholar
- 15.Stückler, J., Schwenk, J., Behnke, S.: Getting back on two feet: reliable standing-up routines for a humanoid robot. In: IAS, pp. 676–685 (2006)Google Scholar