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This article presents an algorithm which commands a group of Bioloid humanoid robots in order to organize them around an object of interest, previously detected by an external vision system. The robots form a Multi-Agent System (MAS) oriented towards cooperative gathering tasks. Development of the MAS, as well as each of the organization algorithm’s components and simulation inside a virtual environment, are all detailed. The algorithm is subdivided in two dedicated threads: one of which handles machine vision (filtering, contour detection and classification achieved through EmguCV libraries) and operational space calculations; while the other operates ZigBee wireless communication with the robots. Furthermore, the robots possess their own embedded code which enables them to translate a sequence of

Desarrollo de algoritmo para detección y comando de robots humanoides en tareas de recolección