Rhoban Football Club: RoboCup Humanoid Kid-Size 2016 Champion Team Paper. - Julien Allali; Louis Deguillaume; Rémi Fabre; Loïc Gondry; Ludovic Hofer; Olivier Ly; Steve N'Guyen; Grégoire Passault; Antoine Pirrone; Quentin Rouxel (RoboCup, 2016)