RoboCup 2022 AdultSize優勝チームNimbRo：知覚・キャプチャーステップ歩行・位相ベースの歩行中キックの改良
RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks
ロボカップ2022ヒューマノイドAdultSizeリーグで優勝したNimbRoのシステム改良（視覚モジュールのハードウェア更新、Capture Stepsによる安定歩行、位相ベースの歩行中キック）を報告した論文。
著者: Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini, Mojtaba Hosseini, Raphael Memmesheimer, Angel Villar-Corrales, Stefan M. Schulz, Marcell Missura, Maren Bennewitz, Sven Behnke
分類: cs.RO
原文アブストラクト
Beating the human world champions by 2050 is an ambitious goal of the Humanoid League that provides a strong incentive for RoboCup teams to further improve and develop their systems. In this paper, we present upgrades of our system which enabled our team NimbRo to win the Soccer Tournament, the Drop-in Games, and the Technical Challenges in the Humanoid AdultSize League of RoboCup 2022. Strong performance in these competitions resulted in the Best Humanoid award in the Humanoid League. The mentioned upgrades include: hardware upgrade of the vision module, balanced walking with Capture Steps, and the introduction of phase-based in-walk kicks.
