“…Depending on the size of the robot several solutions have been presented. (Brooks, 1989, Hartikainen et, al., 1992, Iirotkov et al, 1991, Pfeiffer et al, 1993, R.aibrrt-et al, 1989 This paper focusses on the integration of sensing components into the cont,rol architecture of a walking machine. It gives a short overview of the mechanics of LAURON 11 and discusses the sensor-integration in different control-levels.…”