  Beating the human world champions by 2050 is an ambitious goal of the
Humanoid League that provides a strong incentive for RoboCup teams to further
improve and develop their systems. In this paper, we present upgrades of our
system which enabled our team NimbRo to win the Soccer Tournament, the Drop-in
Games, and the Technical Challenges in the Humanoid AdultSize League of RoboCup
2022. Strong performance in these competitions resulted in the Best Humanoid
award in the Humanoid League. The mentioned upgrades include: hardware upgrade
of the vision module, balanced walking with Capture Steps, and the introduction
of phase-based in-walk kicks.
