Fujita, Masahito, Veloso, Manuela M., Uther, William, Asada, Minoru, Kitano, Hiroaki, Hugel, Vincent, Bonnin, Patrick, Bouramoué, Jean-Christophe and Blazevic, Pierre. 2000. “Vision, Strategy, and Localization Using the Sony Legged Robots at Rob oCup-98.”The AI Magazine 21(1): 47–56.