Stand-up motions are an indispensable part of humanoid robot soccer. A robot incapable of standing up by itself is removed from the game for some time. In this paper, we present our stand-up motions for the NAO robot. Our approach dates back to 2019 and has been evaluated and slightly expanded over the past six years. We claim that the main reason for failed stand-up attempts are large errors in the executed joint positions. By addressing such problems by either executing special motions to free up stuck limbs such as the arms, or by compensating large errors with other joints, we significantly increased the overall success rate of our stand-up routine. The motions presented in this paper are also used by several other teams in the Standard Platform League, which thereby achieve similar success rates, as shown in an analysis of videos from multiple tournaments.

翻译：站立动作是人形机器人足球比赛中不可或缺的组成部分。无法自主站立的机器人将被暂时移出比赛。本文介绍了我们为NAO机器人设计的站立动作。我们的方法可追溯至2019年，并在过去六年中经过评估与小幅扩展。我们认为站立尝试失败的主要原因是执行关节位置存在较大误差。通过执行特殊动作释放被卡住的肢体（如手臂），或利用其他关节补偿大幅误差，我们显著提升了整套站立动作的整体成功率。本文所述动作已被标准平台联盟中多支队伍采用，视频分析显示这些队伍在多项赛事中取得了相近的成功率。