Starkit: RoboCup Humanoid KidSize 2021 Worldwide Champion Team Paper
This work addresses the challenge of improving robot performance in soccer competitions for the RoboCup community, representing an incremental advancement.
The paper describes the development of features for the Starkit humanoid robot team between 2019 and 2021, focusing on vision, mechanics, and algorithms, which led to winning the RoboCup Humanoid KidSize 2021 Worldwide Championship.
This article is devoted to the features that were under development between RoboCup 2019 Sydney and RoboCup 2021 Worldwide. These features include vision-related matters, such as detection and localization, mechanical and algorithmic novelties. Since the competition was held virtually, the simulation-specific features are also considered in the article. We give an overview of the approaches that were tried out along with the analysis of their preconditions, perspectives and the evaluation of their performance.