“…Humanoid robots, i.e., robots resembling human beings, have developed rapidly in recent years. Many researchers have developed these kinds of robots for various purposes, such as learning assistance for primary education [1], clinical applications [2], [3], playing games [4], [5], assisting the elderly [6], and even playing soccer. Humanoid robots have been developed to play football in the same way as human beings, such as passing the ball to a nearby player, kicking the ball towards the goal, and recognizing other team members on the field in real time.…”