An experience of the OPRoS component based programming through the implementation of DARwIn robot soccer

In this paper, we present the experiences on the OPRoS component based programming by applying OPRoS to a shooting behavior for a small humanoid robot. We also compare OPRoS with the conventional robot programming method. From the experience and comparison, we expect that user will get some help in choosing the programing methods and the way of programming in OPRoS.