Transcript Grasping Known Objects With Aldebaran Nao

Mohd. Dawood
Ashu Gupta
Mentor-Dr. Amitabha Mukherjee
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Partcipating in Robocup.
Using humanoids for trivial
day-to-activities.
Take Input
Image
Convert To
HSV Image
Create
Binary
Image
Binary Image
Smooth Binary
Image
Detect Circle
, center and
radius
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Radius and Distance Values.
r=23
Depth=8.3 cm
Error=±5 mm
r=28
Depth = 4.2 cm
Error = ± 3 mm
r=33
Depth = 2.1
Error = ±3 mm
We will be using
only the left hand
for grasping.
*Image taken from Nao's
Documentation

Solving the inverse kinematics equation for
the arm we get θ1 and θ2 and then we move
arm such that the end effector reaches P3
and the arm angles are θ1 and θ2.
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Grasping of object without fixing it’s height.
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Visual Servoing.
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Implementation of Virtual Thumb Rule for
more accuracy.
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Master’s Thesis of Tomas Gonzalez Sanchez,
Depatment of Computer Science and
Mathematics, Universitat Rovira I Virgili
Documentation of Aldebaran Nao from
Aldebaran Robotics.
Website of Aldebaran Robotics
http://www.aldebaran-robotics.com/