Undergraduate Students

Abstract. This paper presents our approach to the Sony Four Logged Robot League of RoboCup 2001. The components of our system consist of strategy, vision, localization, behaviors and walking module. We introduce several techniques for these modules: The image based cooperation, TSL color space for robust color classification, accurate localization through observing the nearest marker and enhanced parameterized walk. We also develop two powerful tools, the color classification tool which allows us to extract accurate thresholds fast, and the forth interpreting language environment which provides interactive access for the robot control. We also employ a lisp dialect, scheme language, for high-level description of robot’s strategy programming, debugging and remote monitoring