RoboCup 2015 Humanoid AdultSize League Winner

Abstract

Major rule changes for the RoboCup Humanoid League in 2015 pose significant vision and locomotion challenges for disambiguating similarly colored objects and navigating soft terrain. These significant changes highlight the need for applying general purpose humanoid robotics approaches that can handle abrupt environment modifications, and we utilize the general purpose THOR (Tactical Hazardous Operations Robot) series of robot from the recent DARPA Robotics Challenge (DRC). Specific techniques for vision, kicking and autonomy complement software developed for robust deployments in the DRC. In this paper, we present these soccer playing techniques, which were validated in the Humanoid AdultSize league in Hefei.