RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-Based In-Walk Kicks.

Dmytro Pavlichenko, Grzegorz Ficht, Arash Amini, Mojtaba Hosseini, Raphael Memmesheimer, Angel Villar-Corrales, Stefan M. Schulz, Marcell Missura, Maren Bennewitz, Sven Behnke

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