Jolly Pochie 2004 in the Four Legged Robot League

Our research interests mainly include machine learning, machine discovery, data mining, image processing, string processing, software architecture, visualization, and so on. RoboCup is a suitable benchmark problem for these domains. The year 2003 four-legged league of the RoboCup was our first participation, and we lost all games. This year, we constructed new architecture, localization, walking, and so on. We had three wins and two losses in the preliminary league. This paper is organized as follows. Section 2 gives a development environment of our team. An overview of the software architecture is illustrated in Section 3. Section 4 gives the perception techniques, including the color detection, the landmarks and ball recognition. The localization mechanism shows in Section 5. The motion modeling and locomotion skills are described in Section 6. Section 7 concludes this paper.