Rhoban Football Club: RoboCup Humanoid Kid-Size 2023 Champion Team Paper. - Julien Allali; Adrien Boussicault; Cyprien Brocaire; Céline Dobigeon; Marc Duclusaud; Clément Gaspard; Hugo Gimbert; Loïc Gondry; Olivier Ly; Grégoire Passault; Antoine Pirrone (RoboCup, 2023)