本研究目的為利用影像資訊量測二足機器人與球之間的距離，然後再採用靜態步行的步行原則，控制二足機器人移動到球的前方執行踢球的動作。機器人所需的硬體設備採用Altera公司所生產的Nios2發展板Stratix Edition，機器人步行所需的影像訊號處理與步行演算法皆以此發展板來完成，其中包含影像擷取、影像處理、產生步行軌跡、反運動學計算、RS232通訊介面…等。二足機器人的結構我們採用KONDO公司所生產的KHR1二足機器人，但我們在二足機器人胸前加裝一個CMOS影像感測器，作為測距與尋找障礙物之工具。另外在機器人的背後裝上KONDO公司所生產的RCB-1伺服馬達控制電路，其可透過RS232與FPGA通訊，取得步行運動命令，用以控制機器人之各軸關節。

This research purpose is to measure distances between the biped robot and a ball by using image information, command the biped robot to walk toward a ball, and then kick it by using statically stable walking. To realize image processing and gait algorithm, the robot control system uses Nios2 development board Stratix Edition produced by Altera Corporation. The functions of Nios2 development board include image capture, image processing, gait trajectory generation, inverse kinematic computation, RS232 communication interface, and so on. The biped robot structure employs the structure of KHR1 biped robot produced by KONDO Corporation. Moreover an additional CMOS image sensor is installed on the chest of biped robot to search an obstacle and measure distances from the biped robot to an obstacle. Finally an additional RCB-1 servo motor control board produced by KONDO Corporation is installed on the dorsum of biped robot to receive the commands of gait and control the joints of biped robot via the communication of RS232 and FPGA.

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