August 1, 2009
      
                  
        
  Author(s)
  Richard A. Allen,   Craig D. McGray
 
       
            
    
    
        From June 29 through July 5, 2009 teams from around the world participated in the International RoboCup competition, held in Graz, Austria. In addition to humanoid robots playing soccer on turf fields, companion robots demonstrating their ability to help