The Urban Robotics project is a collaborative project between Bucknell University and The Florida Institute for Human and Machine Cognition (IHMC). The project was started by Professors Keith Buffinton and Steven Shooter in 2008 and is funded by The Office of Naval Research. The two main systems developed for this project are the Bipedal Walking Robot and the Urban Warrior (also known as the tBot). Research at Bucknell has been strongly focused on the Biped and bipedal walking. Current work on the Biped has been divided into subsystems including head designs for vision and pressure-sensing feet.