Humanoid Robot With Vision Recognition Control System

This paper presents a solution to controlling humanoid robotic systems. The robot can be programmed to execute certain complex actions based on basic motion primitives. The humanoid robot is programmed using a PC. The software running on the PC can obtain at any given moment information about the state of the robot, or it can program the robot to execute a different action, providing the possibility of implementing a complex behavior. We want to provide the robotic system the ability to understand more on the external real world. In this paper we describe a method for detecting ellipses in real world images using the Randomized Hough Transform with Result Clustering. Real world images are preprocessed – noise reduction, greyscale transform, edge detection and finaly binarization – in order to be processed by the actual ellipse detector. After all the ellipses are detected a post processing phase clusters the results.