Design and Implementation of Real Time Robot Controlling System Using Upper Human Body Motion Detection On FPGA

Abstract

Humans body motion detection is widely used in variety of applications such as video processing, sport analysis and biometrics, telerobotic Controlling. Therefore, the precise upper body movement of people detected has essential theoretical significance and economic value. This paper describe our project to detect and track an upper body motion by implementing a real-time robot controlling system which is known as a FPGA based hardware platform for video and image processing with speed, integration and reliability requirements. The system useful upper body motion information extracted from real time image processing will be used to control the prototype humanoid robot. One of the most challenge of this work is to reduce the complexity of algorithm in low level for having small processing duration to meet requirement of a real-time system. The system includes camera for video capturing, FPGA for implement image processing and extracting useful information to send to humanoid robot controller, and monitor for displaying results, . Image processing algorithms and digital system design technique using Verilog Language will be describe in this paper. DE2 Altera FPGA kit and Humanoid robot are used to implement this research.