Sequential Operations in Digital Picture Processing
Journal of the ACM (JACM)
Vision Based Behavior Strategy to Play Soccer with Legged Robots
RoboCup-99: Robot Soccer World Cup III
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Legged robots taking part in real multi-agent activities represent a very innovative challenge. This domain of research requires developments in three main areas. First the robot must be able to move efficiently in every direction in its environment. The faster the motion, the better it is. Special care must be taken when designing walking pattern transitions. Then, without any exteroceptive sensor to get information about its surroundings, the robot is blind. Fortunately, the quadruped prototype on which all experiments are carried out is equipped with a enhanced vision system and vision is the best means of getting a representation of the world that can be found in Nature. Finally the machine should be brought a minimum of intelligence since it has to manage vision information and its walking gaits by itself. When involved in cooperation, confrontation or both like in the soccer play, a high level supervision task is welcome. This paper presents detailed developments of these three points and describes how they are implemented on the real robot.