Rhoban Football Club: RoboCup Humanoid Kid-Size 2016 Champion Team Paper

Julien Allali, Louis Deguillaume, Remi Fabre, Loic Gondry, Ludovic Hofer, Olivier Ly, Steve N'Guyen, Gregoire Passault, Antoine Pirrone, Quentin Rouxel

Research output: Chapter in Book/Report/Conference proceedingConference contribution


For its fifth participation to the RoboCup Kid-Size Humanoid League, the Rhoban Football Club reached the first place of the competition in 2016 in Leipzig. This competition aims at opposing teams of small autonomous humanoid robots in real soccer games. Implementation of complex mechanics, electronics and software systems is needed. In this paper, we summarize and describe some distinctive parts of our architecture. Going from our foot pressure sensors, our open-source alternative Dynamixel firmware, the use of kinematics models, the odometry and camera calibration to our perception system as well as simple but effective team play strategies.
Original languageEnglish
Title of host publicationRoboCup International Symposium 2016
Place of PublicationLeipzig, Germany
PublisherSpringer, Cham
Number of pages12
ISBN (Electronic)978-3-319-68792-6
ISBN (Print)978-3-319-68791-9
Publication statusPublished - 2017
EventRoboCup International Symposium 2016 - Leipzig, Germany
Duration: 4 Jul 20164 Jul 2016

Publication series

NameLecture Notes in Computer Science
PublisherSpringer, Cham
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349
NameLecture Notes in Artificial Intelligence


ConferenceRoboCup International Symposium 2016
Internet address


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