This pre-master end project is done for team Tech United of Eindhoven University of Technology.
The Tech United team is a group of students and employees who design, build and program soccer
robots to compete in the RoboCup Middle Size League. RoboCup is a worldwide competition in
which two teams of autonomous robots play soccer, with the ultimate goal of beating the human
world champion team in the year 2050. There are di??erent leagues in RoboCup, including the
small-size league, the middle-size league and the humanoid league. The middle-size and small-size
league have wheeled robots opposed to the humanoid league where the robots are made to move
like humans and therefore have to walk.