Getting Upright: Migrating Concepts and Software from Four-Legged to Humanoid Soccer Robots

Besides the construction of the robots, the development of control software and tools for simulation and debugging are major topics of interest in the domain of soccer playing humanoid robots. In the RoboCup Four-Legged League, the whole research has—due to the existence of a standard platform—been focused on software development since many years. Therefore, a migration of successful software solutions to humanoid soccer robots is an obvious advancement. In this paper, we point out the similarities between these two domains and describe how to use approved approaches in areas as e.g. vision, localization, or simulation. As a successful example, we describe the migration of GermanTeams’s Four-Legged software to the BreDoBrothers humanoid team.