本論文實現具有影像處理之小型人形步行機器人，並計畫完成兩項目標。第一目標為利用安裝在人形步行機器人頭部上的攝影機擷取影像，再將特定目標物(例如圓球)從複雜背景中分離並找出目標物的中心點，然後計算目標物的距離，再命令人形步行機器人跟隨移動目標物運動。
第二目標為使用影像處理辨識階梯地形，並判斷階梯與人形步行機器人之間的距離。當機器人步行至階梯前時，再使用壓力和紅外線感測器來修正各階梯的實際高度與深度以便人形步行機器人能夠順利登上階梯。本論文使用CCD網路攝影機擷取影像，以及由微控制器dsPIC30F4012送出馬達控制訊號至人形機器人。

This thesis realizes a small-size humanoid robot with image processing function and plans to finish two goals. The first goal is utilizing a webcam which install on the head of the small-size humanoid robot to intercept images, and then separating the target object and the background from the image by image processing method to find the center point of the target object. After calculating the distance between the target object and the small-size humanoid robot, then the robot stairs to track the moving object immediately.
The second goal is to distinguish the topography of stair by using image processing, and then determine their distance. When the small-size humanoid robot is in ahead of the stairs, the robot uses force sensors and infrared sensors to correct the real height and depth of the stairs and climbs stairs successful. The robot uses CCD webcam to intercept images to achieve image processing, and the microcontroller dsPIC30F4012 will send control signals to the small-size humanoid robot.

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