1. Project Proposal [5HC99]: Nao Robot playing Checkers Natalia Irigoyen Wouter Kuijpers Alejandro Betancourt

2. Outline of Presentation 1.Project Overview 2.Main Challenges & Subgoals 3.Project Materials 4.Planning 5.Progress so far

3. Outline of Presentation 1.Project Overview 2.Main Challenges & Subgoals 3.Project Materials 4.Planning 5.Progress so far

4. Nao playing Checkers Implementing more sophisticated behavior on a Nao-Robot Make the Nao-Robot play checkers with a human opponent.

5. Nao Robot “The first camera, located on NAO’s forehead, scans the horizon, while the second located at mouth level scans the immediate surroundings.” – 1220 px, 30 fps Camera “NAO is a programmable, 58cm tall humanoid Robot with 25 Degrees Of Freedom (DOF) whose key elements are Electric Motors and Actuators” www.aldebaran.com/en/humanoid-robot/nao-robot

6. Nao Robot’s Processing Intel ATOM 1,6 Ghz CPU (located in the head) Second CPU (No Specs) (located in the torso) NAO’s SDK lets you develop your own modules with OpenCV and supports image feedback

7. Outline of Presentation 1.Project Overview 2.Main Challenges & Subgoals 3.Project Materials 4.Planning 5.Progress so far

8. Main Challenges – Nao’s Vision Observe the State of the Game (using Vision) Calibration of Stereo-Camera’s Detect objects of interest in 2D Space

9. Main Challenges – The Game 1 2 3 Follow a Designed Strategy (Processing) Finite-Horizon Optimization Problem Implementation of the Algorithm in Python

10. Main Challenges – Nao’s Control Move the Checker Pieces (Control of Nao’s Arm) Controlling Nao’s arm Grasping objects Estimate the position of objects in real world and relative to the end-effector for grasping purposes Checker Piece Nao’s Fingers Modified Checker Piece

11. Outline of Presentation 1.Project Overview 2.Main Challenges & Subgoals 3.Project Materials 4.Planning 5.Progress so far

12. Project Materials Nao Robot – available at the Faculty of Industrial Design. Make a modified checkers game for the Nao robot. As the Nao Robot (5000 Euro) is already available we do not expect this project to have a total cost higher than 60 Euro.

13. Outline of Presentation 1.Project Overview 2.Main Challenges & Subgoals 3.Project Materials 4.Planning 5.Progress so far

14. Planning Division of Responsibilities Control of Nao – Wouter Kuijpers Vision of Nao – Natalia Irigoyen Checkers System – Alejandro Betancourt Rough Planning Finish of Main Challenges – Finish Start of May Start Merging separate Codes

15. Outline of Presentation 1.Project Overview 2.Main Challenges & Subgoals 3.Project Materials 4.Planning 5.Progress so far

16. Progress so Far Design overall Software architecture Connect Python-scripts to Nao Simulator Perform basic movement of Nao’s Arm Exploring the coordinate reference frames of the Nao Robot. Small Demo using Nao Simulator

17. Thank you!