This paper summarises the fourth year of software develop-ment by the UNSW team competing in the RoboCup 2002 Sony legged league. The team won the RoboCup 2002 Challenge and was placed sec-ond in the soccer tournament. We describe new developments in vision and localisation procedures for robot soccer, as well as innovations in lo-comotion and the design of game play and challenge strategies. Since all teams in the competition are required to use identical hardware, the key factor to success in this league is the creativity of the software designers in programming the robots to perform skills that the robots were not originally intended to do and to perform them in a highly dynamic and non-deterministic environment.