The purpose of this paper is twofold. First, we outline important issues in designing real-time controllers for robots with numerous sensors, actuators, and behaviors. We address these issues by implementing a behavior based controller on a sophisticated autonomous robot. Hence, this work provides a point of reference for the scalability, ease of design, and e ectiveness of the behavior based control for complex robots.Second, we explore the viability of using cooperation among local controllers to achieve coherent global behavior. Our approach is to decompose a di cult control task for a complex robot into a multitude of simpler control tasks for robotic subsystems. We illustrate and examine the e ectiveness of this approach via rough terrain locomotion using an autonomous hexapod robot. Traversing rough terrain is a good task to test the viability of this approach because it requires a considerable amount of leg coordination.We found that implementing a complicated global control task with cooperating local controllers can e ectively control complex robots.