UT Austin Villa 2011: 3D Simulation Team Report

Abstract : The RoboCup 3D simulation league is an international competition in whichautonomous simulated humanoid robots play soccer against each other in aphysically realistic environment. This report presents the architecture, designdecisions, and components of the UT Austin Villa 2011 RoboCup 3D simulationleague team. Key components include an omnidirectional walk engine and associatedwalk parameter optimization framework, an inverse kinematics basedkicking architecture, and a dynamic role and formation positioning system. UTAustin Villa won the RoboCup 2011 3D simulation competition, consisting of22 teams from 12 different countries, in convincing fashion by winning all 24games it played. During the course of the competition the team scored 136 goalswhile conceding none.