Project Update #4:Nao Robot playing Checkers

Natalia Irigoyen Wouter Kuijpers (Presenting)

Alejandro Betancourt Nao Robot (Presenting)

Nao playing Checkers

• Implementing more sophisticated behavior on a Nao-Robot

Make the Nao-Robot play checkers with a human opponent.

Nao Robot

• Our fourth member:

Stage is for Nao

https://youtu.be/Tejup7XMrzA

Nao Robot Perspective

http://youtu.be/gVV6OqD1Rcs

Added: this is the same movie but from the Nao Robot perspective.

Small Remark

Nao Control – Kinematics

• Previous Time: Forward Kinematics is done! – Mentioned something

about decoupling…

Nao Control – Inverse Kinematics

• Inverse Kinematics: (5DOF)

• Maybe because of the design of the robot, the Inverse Kinematics can be decoupled.

Nao Control – Inverse Kinematics

• Inverse Position Kinematics

• Find an expression for the Wrist Center and solve it for the and

Nao Control – Inverse Kinematics• Inverse Orientation Kinematics

• Find an expression for the Wrist Center and solve it for the and

• One of the solutions:

Nao Control – Inverse Kinematics

• Problem Detected: grasping in front of Nao

• See what inverse kinematics yields.

• Allow small deviations from the desired orientation.

• Contact the Robotics contact about this.

Thank you!