2019 – TDP – HFUTEngine2019 – RoboCupSoccer – Simulation – 3D

This paper simply describes the architecture of HfutEngine3D team. This year we use the released code form UT and add ourselves decision information. Additionally, we use CMA-ES method and closed-loop control method of an omnidirectional walking model of humanoid robots which based on Cerebellar Mode Articulation Controller (CMAC) to achieve a steady and fast omnidirectional walk.