UT Austin Villa 2003: A New RoboCup Four-Legged Team

The UT Austin Villa RoboCup 2003 Four-Legged Team was a new entry in the ongoing series of RoboCup legged league ompetitions. The team development began in mid-January of 2003, at whi h time none of the team members had any familiarity with the Aibos. Without using any RoboCup-related ode from other teams, we entered a team in the Ameri an Open ompetition at the end of April, and met with some su ess at the annual RoboCup ompetition that took pla e in Padova, Italy at the beginning of July. In this report, we des ribe both our development pro ess and the te hni al details of its end result, the UT Austin Villa team. The main ontributions of this paper are (i) a roadmap for new teams entering the ompetition who are starting from s rat h, and (ii) full do umentation of the algorithms behind our approa h with the goal of making them fully repli able.