Robocup 2014 Humanoid Adultsize League Winner

The RoboCup Soccer Humanoid AdultSize League is a very challenging league that requires fast and reliable locomotion, a robust vision and localization system, and long term planning to score in a limited attack window. As a result, many adult-size robots are now highly optimized for the soccer task, with very lightweight construction that enables nimble locomotion with low power actuators. However, such a soccer optimized humanoid design excludes the possibility of using the humanoid robot for more general tasks that include, for instance, dextrous manipulation and navigating over rugged terrain. In this paper, we describe how we utilize the general purpose and full sized humanoid robot, THOR-OP (Tactical Hazardous Operations Robot - Open Platform), which was originally developed to compete at the DARPA Robotics Challenge (DRC) for the 2014 RoboCup AdultSize league robotic soccer competition.