Starkit: RoboCup Humanoid KidSize 2021 Worldwide Champion Team Paper

Egor Davydenko, Ivan Khokhlov, Vladimir Litvinenko, Ilya Ryakin, Ilya Osokin, Azer Babaev

Abstract: In 2021, Team Starkit reached the first place of the Robocup Humanoid KidSize 2021 Worldwide competition, using the codebase that was in develop by the team between RoboCup 2019 Sydney and RoboCup 2021 Worldwide. This article is devoted to the software and hardware features introduced by our team to upgrade the performance of the open source Rhoban Football Club 2019 code release used as the base of our software and hardware framework. These features include vision-related matters, such as detection and localization, electronics, and mechanical and algorithmic novelties. The competition was held virtually for the first time, and despite the fact that our software was developed for the real-life robot, we were able to successfully run it in a simulation environment. The simulation-specific features are also considered in the article.