2024/01/11 by Dmytro Pavlichenko, Pavlichenko, Dmytro, Grzegorz Ficht +13 · 2 citations
Engineering · #Robotic Locomotion and Control #Prosthetics and Rehabilitation Robotics #Muscle activation and electromyography studies
paper · pdf · doi:10.48550/arxiv.2401.05909
The RoboCup Humanoid League holds annual soccer robot world championships towards the long-term objective of winning against the FIFA world champions by 2050. The participating teams continuously improve their systems. This paper presents the upgrades to our humanoid soccer system, leading our team NimbRo to win the Soccer Tournament in the Humanoid AdultSize League at RoboCup 2023 in Bordeaux, France. The mentioned upgrades consist of: 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.