Rhoban Football Club: RoboCup Humanoid Kid-Size 2017 Champion Team Paper

In 2017, Rhoban Football Club reached the first place of the Kid-Size soccer competition for the second time, and was awarded best humanoid by the jury (https://www.robocuphumanoid.org/hl-2017/results/.). Capitalizing over the hardware design and software basis from previous participations, we improved both robustness and overall behaviors of our humanoid robots. An interesting milestone reached is the opportunistic pass ability; since such an high-level team play behavior can only work after solving underlying difficulties like having a good field localization, robust and reliable detection of vision features, a repeatable locomotion with odometry etc. This paper describes the most meaningful improvements accomplished over this year along with perspectives of future work.