HI every one I am a member of IUT Robotic Center working on humanoid robots for participating robocup 2004,and have participated in Robocup 2003 and 2002 in middle and small size soccer robot bytheway I want to offer you to start an International Robotic Project based on Biped robots who can walk both passivlly and also powerdly on unexpected surface .Any one who is interesred in formulate the trajectory for walking and running mode or other related works can mail me for more details. e_tarkesh@mech.iut.ac.ir e_tarkesh@yahoo.com