  This paper presents a solution to controlling humanoid robotic systems. The
robot can be programmed to execute certain complex actions based on basic
motion primitives. The humanoid robot is programmed using a PC. The software
running on the PC can obtain at any given moment information about the state of
the robot, or it can program the robot to execute a different action, providing
the possibility of implementing a complex behavior. We want to provide the
robotic system the ability to understand more on the external real world. In
this paper we describe a method for detecting ellipses in real world images
using the Randomized Hough Transform with Result Clustering. Real world images
are preprocessed, noise reduction, greyscale transform, edge detection and
finaly binarization in order to be processed by the actual ellipse detector.
After all the ellipses are detected a post processing phase clusters the
results.
