But for now the humans are still better at actual soccer than a RoboCup MSL team :-) https://www.youtube.com/watch?v=pE4UopWe2lo
Robot-robot matches for some types of robot are getting more interesting though: https://www.youtube.com/watch?v=g9bLIztscyI
Something like volleyball or tennis which is explicitly a contactless sport? Sure, provided that robots use similar strength to push the ball, otherwise a lot of fingers will be broken. Football is never happening.
In that penalty example you've shared nothing happens and then the ball is in the goal. They're supposed to be much more physchological. Both players are supposed to pay close attention to body movement to "predict" the side and the goalkeeper is supposed to see the shooter approaching the ball to know when to react.
Human-on-human play is already injury prone.
However they'll win easily if they are made to be stronger and / or faster.
Strength: hard for humans to push them around and to steal the ball from and easy for them to do it to humans.
Fast: they'll just throw the ball past the defenders and run, like boys vs children. No need to use any soccer skill.
What's the intermediate step for this? What's the record for a bipedal 100m dash? For one big enough to meaningfully kick a soccer ball (even if it can't currently)? What's the 100m dash record for a robot that can also run 7+ miles over 90 minutes?
I feel like we're close -- but we're not really close. We're close on individual qualifications, but not combining them. We may genuinely be there with the control systems and computing if we had a performant robot.