Quatrobot humanoid robot

The purpose of this project is to develop a humanoid robot that is capable of human-like abilities such as walking and obstacle detection. Furthermore, the robot will be able to kick a yellow tennis ball. The robot has 17 degrees of freedom - 5 for each leg, 3 for each arm, and one for the head. It has 17 servo motors, with one motor providing one degree of freedom. It uses infrared sensors and an ultrasonic sensor for obstacle detection, tilt sensor for robot balance, and a photo sensor for recognizing the yellow ball. This project employs the atmega128 microcontroller to make decisions that control the movements of the servo motor. This project is based on a previous undergraduate thesis entitled Two-Legged Robot by Chiu et al. In this project, the two-legged robot was improved by adding an upper body. Also, the walking ability of the robot was improved, and more abilities such as obstacle detection, yellow ball detection, ball kicking, and dancing were added