In 2001, the UNSW United team in the Sony legged robot league successfully defended its title. While the main effort in last
year’s competition was to develop sound low-level skills, this year’s team focussed primarily on experimenting with new behaviours.
An important part of the team’s preparation was playing practice matches in which the behaviour of the robots could be studied
under actual game-play conditions. In this paper, we describe the evolution of the software from previous years and the new
skills displayed by the robots.