Vision, Strategy, and Localization Using the Sony Legged Robots at RoboCup-98

Sony has provided a robot platform for research and development in physical agents, namely, fully autonomous legged robots. In this article, we describe our work using Sonyʹs legged robots to participate at the RoboCup-98 legged robot demonstration and competition. Robotic soccer represents a challenging environment for research in systems with multiple robots that need to achieve concrete objectives, particularly in the presence of an adversary. Furthermore, RoboCup offers an excellent opportunity for robot entertainment. We introduce the RoboCup context and briefly present Sonyʹs legged robot. We developed a vision-based navigation and a Bayesian localization algorithm. Team strategy is achieved through predefined behaviors and learning by instruction.