A video of the autonomous humanoid robot named Bez as submitted by the University of Toronto Robot Association (UTRA) for RoboSoccer 2018 consideration. UTRA members are engineering and engineering science undergrads doing this for "kicks" and not course fulfilment.
The control system is all open loop with more than 40 parameters hand-tuned.
Body trajectories are generated by 3rd order Bezier curves. Exponential smoothing controls body sway. AI is handled by an NVIDIA processor and data acquisition and control by an ARM-based 32-bit microcontroller. Firmware is written on top of FreeRTOS.
All code and know-how is on github. Next steps are to explore 3D printed parts and build custom servos. Closed-loop PID control would improve stability and make tuning easier.