Soccer is a game understood by people worldwide. Running at a ball and kicking it towards the goal is easy enough, however to get a robot to perform such a task requires many layers of complex programming. In the Robocup Humanoid League, autonomous robots with a human-like body plan and human-like senses play soccer against each other. Unlike humanoid robots outside the Humanoid League, the task of perception and world modeling is not simplified by using non-human like range sensors. In addition to soccer competitions, technical challenges take place. Dynamic walking, running, and kicking the ball while maintaining balance, visual perception of the ball, other players, and the field, self-localization, and team play are among the many research
