Three Humanoid Soccer Platforms: Comparison and Synthesis

  title={Three Humanoid Soccer Platforms: Comparison and Synthesis},
  author={Shivaram Kalyanakrishnan and Todd Hester and Michael Quinlan and Yinon Bentor and Peter Stone},
In this article, we provide an overview of three humanoid soccer platforms currently in use at RoboCup: 3D simulation, the humanoid Standard Platform League (SPL), and the Webots-based simulator released with the SPL. Although these platforms trace different historical roots, today they share the same robot model, the Aldebaran Nao. Consequently, they face a similar set of challenges, primary among which is the need to develop reliable and robust bipedal locomotion. In this paper, we compare… CONTINUE READING

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