The HuroCup competition emphasizes the development of flexible, robust, and versatile robots that can perform many different tasks in different domains. HuroCup encourages research into the many areas of humanoid robotics, especially walking and balancing, complex motion planning, and human robot interaction. In addition to the single events (e.g., sprint, penalty kick, obstacle run, lift and carry, marathon, weight lifting, and basket ball), there is an all-round competition for the single robot that performs best over all events.



To reduce the steep learning curve toward fully autonomous humanoid robots, the rules committee has developed seven challenges for physical agents: (a) sprint, (b) penalty kick, (c) obstacle run, (d) lift and carry, (e) weight lifting, (f) marathon, and (g) basketball and (h) wall climbing. These challenges are aimed at providing intermediate goals on the path to fully autonomous robots that can operate in difficult environments.

The following subsections describe each individual agent challenge. These  challenges are conducted using the FIFA Laws of the Game as much as possible. Unless otherwise specified, the Laws of the Game apply.

  • Sprint: The sprint event (formerly named robot dash event) is a short distance race for humanoid robots. The goal is for the robots to move as quickly as possible from a start line to the end line for a series of segments.
  • Penalty Kick: In this event, the robot must approach and kick a ball positioned somewhere in the ball area. A robot from a different team will act as goal keeper during this event.
  • Obstacle Run: This event is similar to the sprint event (Subsection 3.1). The robot must move from one end of the playing field to the other as quickly as possible. However, in this case, a number of obstacles are distributed over the playing field. The robot must navigate over, under, or around the obstacles and reach the end zone.
  • Lift and Carry: The goal is to provide an event that requires robots to use active balancing. The robots will be fitted with a small basket. The robots repeatedly walk across an uneven terrain from one side to the other. Once the robot reaches the end of the uneven terrain, the referee adds small heavy obstacles into the basket. The robot must compensate for the extra weight and continue to cross the uneven terrain. to walk. The robot that can carry the most weight is declared the winner of the event.
  • Marathon: The marathon event is an endurance race over 42.195m. The robots follow a coloured track.
  • Weight Lifting: The goal of the weight lifting event is to develop robots that can lift and balance heavy weight.
  • Basketball: The basketball competition is another single robot event at the moment, but wil be expanded to multiple players in the future. The robot must throw a ball into a coloured target.
  • Soccer: The soccer competition is the first team event in the HuroCup competition. It is a game of soccer played by teams of 3 players.
  • Climbing Wall: The climbing wall challenge aims at fostering research into complex motion plannng, coordination, and execution to increase the range of usable motions for humanoid robots.


FIRA HuroCup Rules download links:

  1. General Laws
  2. Allround
  3. Sprint
  4. Obstacle Run
  5. Basketball
  6. Weightlifting
  7. Penalty Kick
  8. Climbing Wall
  9. Marathon
  10. United Soccer
  11. Orgnaization


1. Team Participation Data

  • Team name
  • URL of the team’s home page
  • Competition class: kid or teen or adult size

Please note that teams applying for participation in several classes must submit individual application material for each class and pay the appropriate registration fee for each class. At least one team member must register on each team. Furthermore, teams in different classes must be able to compete independently and at the same time.

2. Robot Video

The first part of the qualification material is a video of your robot demonstrating your team’s autonomous HuroCup playing skills.

The qualification video must be supplied as a link to it via or . The maximum duration of the video is 5 minutes. The qualifying team is responsible to ensure that the video adheres to YouTube’s TOS (especially in regards to music copyright) to prevent the video from being blocked for the reviewers. Videos not viewable by the reviewers may lead to a team not being qualified.

No video means no qualification!

3. Team Description Paper

A team description paper (TDP) must be submitted which

  • fully describes the scientific aspects of your humanoid robot system and your research interests,
  • includes a summary of previous relevant achievements in research and development as well as publications,
  • mentions prior performance in HuroCup competitions
  • points out enhancements of the robots’ hardware or software compared to the previous year
  • states explicitly whether software from other teams is used and if yes, which parts are used and what the team’s own contributions are

The TDP is limited to 8 pages maximum and must be submitted in PDF format. Resubmitting of last year’s TDP will prevent qualification.

The TDP must follow the LNCS format which can be downloaded from Please pay special attention to the “Author guidelines” that you’ll be able to find there. You are expected to follow all LNCS formatting and style guidelines.

The quality of the TDP and the robot video will be decisive for qualification.

Other evaluation criteria include contributions to the HuroCup community by release of significant papers or software.






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