  The ongoing evolution of the RoboCup Humanoid League led in 2017 to the
introduction of one vs. one soccer games for the AdultSize robots, which
motived our team NimbRo to enter this category. In this paper, we present the
mechatronic design of our upgraded robot Copedo and the newly developed
NimbRo-OP2, which received the RoboCup Design Award. We also describe improved
approaches to visual perception of the game situation, including compassless
localization on a soccer field with symmetric appearance, and the generation of
soccer behaviors. At RoboCup 2017 in Nagoya, our robots played very well,
winning the AdultSize soccer tournament with high scores. Our robots also won
the technical challenges and we present the developed solutions.
