Transcript Project Update #5: Nao Robot playing Checkers Natalia Irigoyen (Presenting) Wouter Kuijpers (Presenting) Alejandro Betancourt Nao Robot Nao playing Checkers • Implementing more sophisticated behavior on a Nao-Robot Make the.

Project Update #5:
Nao Robot playing Checkers
Natalia Irigoyen (Presenting)
Wouter Kuijpers (Presenting)
Alejandro Betancourt
Nao Robot
Nao playing Checkers
• Implementing more
sophisticated behavior
on a Nao-Robot
Make the Nao-Robot play checkers with a human
opponent.
Nao Vision – Extruded Calibration
Nao Vision – State of the Game
Nao Vision
Nao Vision
Nao Control – Kinematics
Nao Control – Inverse Kinematics
• Inverse Kinematics:
Decoupling of IK
– Desired Position of
Hand
– Desired Orientation
– Determine 𝑞1 and 𝑞2 ,
depending on wrist
center.
– Determine 𝑞1 , 𝑞2 and
𝑞3 to correct
orientation.
Nao Control – Inverse Kinematics
• Problem Detected: grasping in front of Nao
• Problem can be explained
using the decoupling.
• Solution: using the control
we have over Nao’s fingers.
Nao Control – Inverse Kinematics
• This Week:
– Implemented the Left
and Right Arm IK in
Python
– Tested Left and Right
Arm IK with FK in
Python
– Select Joint Angles
Planning
Thank you!