Using Reactive and Adaptive Behaviors to Play Soccer

This work deals with designing simple behaviors to allow quadruped robots to play soccer. In addition to vision problems such as changing lighting conditions and color confusion, legged robots must cope with "bouncing images" because of successive legs hitting the ground. Because it is not always possible to simulate the problems encountered in real situations, the behavior strategy should anticipate them. Experiments were carried out at the 1999 RoboCup in Stockholm using the Sony quadruped robots (Fujita 2000).