The topic of humanoid robot control has driven much research in areas such as robotics, artificial intelligence, computer vision, among others. Nowadays, humanoids are equipped with several degrees of freedom leading to very versatile movements but also to more complexity regarding the inherent problems. Robocup is a robotic soccer international competition that promotes the research in these areas, including humanoid leagues, both on simulated and real environments. The FCPortugal team has already a good record for wins in RoboCup. The team intends to study these problems due to its...