Albrecht, ChristianBarbi, ManuelBieling, KarenBöttinger, TorstenDürr, MarcoDownar, LennartEilers, MarcelHannich, JulianHemmers, JanineRensen, FabianWalter, HeinerZiegler, Florian2016-11-242016-11-242016-04-06http://hdl.handle.net/2003/3563310.17877/DE290R-17674en004Soccer Playing Humanoid RobotsFinal Report of Project Group 590working paper