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Beating the human world champions by 2050 is an ambitious goal of theHumanoid League that provides a strong incentive for RoboCup teams to furtherimprove and develop their systems. In this paper, we present upgrades of oursystem which enabled our team NimbRo to win the Soccer Tournament, the Drop-inGames, and the Technical Challenges in the Humanoid AdultSize League of RoboCup2022. Strong performance in these competitions resulted in the Best Humanoidaward in the Humanoid League. The mentioned upgrades include: hardware upgradeof the vision module, balanced walking with Capture Steps, and the introductionof phase-based in-walk kicks.

RoboCup 2022 AdultSize Winner NimbRo: Upgraded Perception, Capture Steps Gait and Phase-based In-walk Kicks