Legged robots pose some unique problems for docking, such as a lack of odometry.
Legged robots are thus forced to rely heavily on sensors such as vision for navigation. Active perception provides a direct link from vision to action, obviating the need for odometry. By keeping the target centered in the image, fixation facilitates a robust docking behaviour. This report describes an active perceptual fixation-based docking behaviour, and a novel reactive architecture for mobile robots. This has been demonstrated successfully in numerous experiments on a legged mobile robot.