Anderson 1986 : Today's robot systems take an ergocentric view of the world, assuming that the world is largely static and changes from state to state only in response to robot actions. To a large extent, this is a consequence of the limited bandwidth of current environmental sensing systems, in particular, doing any kind of vision takes most of a second or more. We have designed and constructed a vision system based on a VLSI chip that locates objects at the full 60 Hz camera frame rate. Two systems provide a three dimensional description of object motion. In this environment, the robot must be capable of a sense of time: it must consider new data in the context of the old, and it must be aware of the temporal characteristics of its mechanism and processing electronics. We are exploring these concepts by creating a robot ping-pong player.