The University of Melbourne’s RoboMutts++ team competed in the Sony Legged League at RoboCup for the second consecutive year in 2001. This paper describes the areas of research and development focused on in 2001. The software system developed evolved from the system implemented by the RoboMutts team in 2000. In order to direct development effort effectively, the 2000 system was evaluated and limitations were identified. The areas of development were: motion, system architecture, localisation and behaviours. For motion, a variable parameterised walk, and numerous kicks were developed. The system architecture was remodelled to remove multiple concurrent threads, and to facilitate easy integration of various behaviours. Localisation development included one beacon position determination. A number of attacking behaviours were developed for use in differing scenarios, as well as a defensive goalie behaviour.