NimbRo AdultSize Software Description 2020

This paper describes the state of robots’ software of team NimbRo AdultSize of the Rheinische Friedrich-Wilhelms-Universität Bonn, Germany. This paper aims to serve as qualification material for the competition held in Bordeaux from June 23–29. The design and construction of our robots were developed entirely by our team members. This paper focuses mainly on the software components that played a key role in winning the Humanoid League 2019 in Sydney. These components include: behavior design, robot perception, and gait optimization.