Aiming at building versatile humanoid systems, we present in this paper the real-time implementation of behaviors which integrate walking and vision to achieve general functionalities. This paper describes how real-time -or high bandwidth- cognitive processes can be obtained by combining vision with walking. The central point of our methodology is to use appropriate models to reduce the complexity of the search space. We will describe the models introduced in the different blocks of the system and their relationships: walking pattern, Self Localization and Map Building, real-time reactive vision behaviors, and planning.