RoboCup 2023 ヒューマノイド大人サイズ優勝チーム NimbRo：NimbRoNet3 視覚認識と波形インフォークキックによる応答的歩行
RoboCup 2023 Humanoid AdultSize Winner NimbRo: NimbRoNet3 Visual Perception and Responsive Gait with Waveform In-walk Kicks
RoboCup 2023 ヒューマノイド大人サイズリーグで優勝した NimbRo チームのシステム改良（視覚認識モデル NimbRoNet3、融合角フィードバックと COM-ZMP 制御による歩行安定化、波形を用いたパラメトリックな歩行中キック）を報告した論文。
著者: Dmytro Pavlichenko, Grzegorz Ficht, Angel Villar-Corrales, Luis Denninger, Julia Brocker, Tim Sinen, Michael Schreiber, Sven Behnke
分類: cs.RO
原文アブストラクト
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.
