This was the main improvement demonstrated by the kid-sized humanoid robots playing at this year's RoboCup in Nagoya.
According to the first place U of Bordeaux team, Rhoban Football Club,
"The main innovation of the robot is located in its feet. The feet are no longer flat but are put on the ground on top of 4 cleats at each foot corner. Only these cleats are in contact with the ground and 'sink' into the artificial grass. This greatly improve the stability of the robot walking on the ”soft” turf."
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