Vision Processing on the Bunny Robot Humanoid Robot

摘要

Abstract — The Bunny robot is a new humanoid robot platform for teaching, research and competition. It has been developed to provide a detailed case study for undergraduate and postgraduate teaching, but it is also a research tool and competition robot. It is based upon the Robotis humanoid servo skeleton to which a multi-processor card cage and skull have been added. Steerable cameras and FPGA video stream processing provide VGA resolution image capture and processing. This paper describes a range of developments designed to improve the robot’s performance at football and athletics for RoboCup and FIRA competition. Vision processing additions are described in relation to their potential gains. I.