The goal of the international RoboCup initiative is to develop a team of humanoid robots that is able to win against the official human World Soccer Champion team until 2050. In some sense the RoboCup challenge is the successor of the chess challenge for artificial intelligence (a computer beating the human World Chess Champion) that was solved in 1997 when Deep Blue won against Garry Kasparow. Currently, there exist a number of different RoboCup soccer leagues that focus on different aspects of this challenge. The Humanoid League is one of the most dynamically progressing leagues and the one closest to the 2050 goal.