1. Mohd. Dawood Ashu Gupta Mentor-Dr. Amitabha Mukherjee

2.  Partcipating in Robocup.  Using humanoids for trivial day-to-activities.

3. Take Input Image Convert To HSV Image Create Binary Image

4. Binary Image Smooth Binary Image Detect Circle, center and radius

5. 

6.  Radius and Distance Values. r=23 Depth=8.3 cm Error=±5 mm r=28 Depth = 4.2 cm Error = ± 3 mm r=33 Depth = 2.1 Error = ±3 mm

7. We will be using only the left hand for grasping. *Image taken from Nao's Documentation

8.  Solving the inverse kinematics equation for the arm we get θ1 and θ2 and then we move arm such that the end effector reaches P3 and the arm angles are θ1 and θ2.

10.  Grasping of object without fixing it’s height.  Visual Servoing.  Implementation of Virtual Thumb Rule for more accuracy.

11.  Master’s Thesis of Tomas Gonzalez Sanchez, Depatment of Computer Science and Mathematics, Universitat Rovira I Virgili  Documentation of Aldebaran Nao from Aldebaran Robotics.  Website of Aldebaran Robotics http://www.aldebaran-robotics.com/