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This work deals with designing simple behaviors for legged robots to play soccer in a predefined environment : the soccer field. Robots are fully autonomous, they cannot exchange messages between each other. Behaviors are based on information coming from the vision sensor, the CCD camera here which allows robots to detect objects in the scene. In addition to classical vision problems such as lighting conditions and color confusion, legged robots must cope with "bouncing images" due to successive legs hitting ground. This paper presents the work achieved for our second participation. We point out the improvements of algorithms between the two participations, and those we plan to make for the next one.

Vision Based Behavior Strategy to Play Soccer with Legged Robots