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Humanoid Robots are widely used in various real-world applications which contributed in
raising the interest of researchers to enhance Robot development and deployment in dynamic
environments. Robocup Soccer league is a platform for qualitative development in the fields of
Robot Kinematics and Dynamics, Motion Planning and Control, Navigation, Computer Vision and
Machine Learning. New challenges are introduced each year for teams that aim to improve robot
behaviors in real world scenarios. One of the most popular leagues in Robocup is Standard
Platform League that majorly focuses on improving individual robot capabilities, team capabilities
and coordinated strategies in dynamic soccer matches played by teams of Aldebaran Nao
humanoid robots. The robots with capability to quickly gain ball possession from opponent by
intercepting the moving ball path will contribute to a better defense strategy. The aim of this study
is to improve individual robot and team skills during game scenarios where ball is moving using
motion primitives and geometric parameters. The proposed strategy is used to compute the
interception point using geometric equations given the ball position and velocity information. The
robot response is dependent on factors including initial position and velocities of robot and ball.
Furthermore, to demonstrate the feasibility of proposed approach, different scenarios with single
and multi-agents are simulated using SimRobot. Simulations validate the effectiveness of proposed
algorithm in moving ball interception scenario.