Object tracking for autonomous biped robot

摘要

This thesis discusses the establishment and realization of an autonomous biped robot with object tracking function. It firstly analyzes the degrees of freedom (dof), the connections of actuators and links, the locomotion of the actuators, and the configuration of the biped robot. Secondly, it uses RS-232 as the interface for communication and control to allow the robot to receive demands from the user and track objects autonomously. The robot can perceive its location in an unknown environment based on the data obtained from its camera. Finally, the embedded system integrates and computes the data for the application of determining the tracking behavior of the biped robot.