Deep Reinforcement Learning for Humanoid Robot Dribbling**Alexandre Muzio acknowledges CAPES for his scholarship (number 88882.161989/2017-01). Takashi Yoneyama would like to thank CNPq - National Research Council of Brasil for the grant 304134/2-18-0. The authors thank ITAndroids' sponsors: Altium, Cenic, Intel, ITAEx, MathWorks, Metinjo, Micropress, Polimold, Rapid, SolidWorks, STMicroelectronics, Wildlife Studios, and Virtual.PYXIS.