Integrating embedded color vision to Bioloid robot for playing soccer

This paper introduces a method to connect a camera, i.e., Pixy CMUcam5 as the vision detector of a robot soccer. The challenge point is to study how to connect this camera to CM-530 for Bioloid robot, since it is a low-prize compared with the embedded vision module of Havimo, which is a hardware platform of a Bioloid robot. In the genuine Bioloid robot, CM-530 works as the main processor. However, in this paper, CM-530 is used as the processor of actuators only, while the main processor is replaced by using Arduino micro controller. This method will be used for the learning material of robotics; thus, there are some topics should be observed, i.e., connection, data interpretation, and its implementation for robot soccer. In this paper, Pixy CMUcam 5 was confirmed that it can be used appropriately for robot soccer, especially for detecting ball, goalpost, opponent, and team mates based on color. Furthermore, this camera can also be used to interpret the distance of objects to determine the motion actions.