Impossibles: A Fully Autonomous Four-legged Robot Soccer Team

class. The first one is sense which is called every time robot gets some new information. The second virtual function is decisionMaking which is called in a specific period of time to decide about new actions. The result of this function could be any of the actions such as walking, shooting, looking, etc. Some actions such as standing back to normal position in the case the robot falls down and also Blocking Skills (which will be discussed later in detail) are done completely without interrupts or preemptions, so decisionMaking is not called during these skills. Fig. 1. Impossibles World Model base Architecture