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Cerberus is one of the four new teams in the RoboCup Tournament, Legged Robot Category. The team is a joint e ort of Bo gazi ci University (Turkey) and Technical University of So a, Branch Plovdiv (Bulgaria). We have divided the robot software design into six major tasks, and worked on those tasks in parallel. With limited time in our hands, our aims were a clear object oriented design, readable behavior architecture, and maximum code reuse.