  The trend in the RoboCup Humanoid League rules over the past few years has
been towards a more realistic and challenging game environment. Elementary
skills such as visual perception and walking, which had become mature enough
for exciting gameplay, are now once again core challenges. The field goals are
both white, and the walking surface is artificial grass, which constitutes a
much more irregular surface than the carpet used before. In this paper, team
NimbRo TeenSize, the winner of the TeenSize class of the RoboCup 2016 Humanoid
League, presents its robotic platforms, the adaptations that had to be made to
them, and the newest developments in visual perception and soccer behaviour.
