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This article contains explanations on how to develop an intelligent agent in war simulation environment by RoboGenius team. The main Focus of the team is on artificial intelligence application in war simulation server [1]. For this purpose we used a combined base code part of which is related to Robotoos team and its general parts are related to UVA2003 in 2D soccer simulation [2]. In this article we analyze the environment from an intelligent agent view point rather than exploring software engineering issues. And, considering the kind of simulation environment we study exploring issues in this environment. Simulation environment has been considered as a semi-visible dynamic environment. Robot decision making problems and priority of its decisions have been explored and implemented by using the decision tree. For the problem of environment exploration in war simulation we have presented a new approach. Also, we have explored the possibility of using artificial intelligence in more developing war simulation agent.

In this paper, a control strategy based on the Inverse Kinematic (IK) is proposed for gate generation for a two — legged humanoid. According to this approach, a pattern oscillation plan is designed by some of walking basic feature such as: the sole-maximum height of the ground, time of walking and etc, at the first time. Then all of the body coordination position (X, Y, Z) — Joints and links — was adapted from the oscillation plan using Forward Kinematic (FK), after determination positions, every joint angle has been calculated using inverse kinematic and is sent to every joint motor controller as a specifics Command string periodically. For determination positions, a trajectories must be designed that shown sole coordination(X, Y) at the space. In other to implementation this algorithm, we use a model of the humanoid robot that is called Nao Robot and implement our algorithm on its simulation environment (that is used for international soccer humanoid robotic simulation participates, its name is "rcssserver3D").