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 𝑞 1 and 𝑞 2 , depending on wrist center. Determine 𝑞 1 , 𝑞 2 and 𝑞 3 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!