1. Project Update #5: Nao Robot playing Checkers
Natalia Irigoyen (Presenting)
Wouter Kuijpers (Presenting)
Alejandro Betancourt
Nao Robot

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

3. Nao Vision – Extruded Calibration

4. Nao Vision – State of the Game

5. Nao Vision

6. Nao Vision

7. Nao Control – Kinematics

8. 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.

9. 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.

10. 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

11. Planning

12. Thank you!