This thesis is intended to complete the biped robot at a relatively cheap price. This research utilizes fuzzy control system to control the ZMP (zero moment point) as the main method of balancing the robot. Furthermore, we use the inverse kinematics to calculate the position and relationship of each motor state. Then we develop the Python program to call the Arduino modules to control the motor. In terms of avoiding obstacles, we install an ultrasonic sensor on the instep of the robot, and use the sensor on the instep of the foot to determine whether there are obstacles ahead or not. Furthermore, it can judge whether it is on the left or right side of the biped robot. After these steps, the tracking is done by using OpenCV and the Raspberry Pi camera module. Finally, all the programs are embedded into Raspberry Pi and MCU Arduino to control the overall biped robot.
