Come on, there's so many things happening in football that are in between no contact and yellow/red card worthy. Defenders sliding straight into the ball and tackling the attacker because of the momentum, gentle pushes between players during corners for better positioning, two players contesting the ball as it's descending from high up, etc, etc. No way anyone's doing any of that against something that has a similar build to yours, but weights much more and is all metal.

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.

I think the concern is more about the strength imbalance between a robot and a human, more than the rough play itself.

Human-on-human play is already injury prone.