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nao humanoid robot: Analysis of calibration techniques for robot sketch drawing

robotICS AND AUTONOMOUS SYSTEMS 2016年第0期79卷 108-121页

作者： Singh, Avinash Kumar Nandi, G. C. Indian Inst Informat Technol Allahabad Robot & Artificial Intelligence Lab Allahabad Uttar Pradesh India

The strength of the nao humanoid robot is discussed with several challenges in the arena of human portrait and sketch drawing. These challenges include extracting feature points from the input image, defining these points with respect to end effector, finding the inverse kinematics solution and designing a visual feedback system. This paper mainly addresses the fundamental issue of defining a relationship between the points of the image plane and nao end effector position. This relationship enables nao to perceive points of image plane with respect to its body coordinate system. Three different techniques based on the principles of fundamental matrix, pseudo inverse and Artificial Neural Network based regression analysis are applied to handle the calibration difficulties on nao robot. A comprehensive study on sample points collected from nao end effector position and corresponding image points has been made to understand the effectiveness of each technique. The degree of performance ability of each technique has been measured using time complexity, and mean square error metrics. (C) 2016 Elsevier B.V. All rights reserved.

关键词： nao humanoid robot Sketch drawing nao calibration DH principle

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Eliminating drift of the head gesture reference to enhance Google Glass-based control of an nao humanoid robot

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INTERNATIONAL JOURNAL OF ADVANCED robotIC SYSTEMS 2017年第2期14卷

作者： Mao, Xiaoqian Wen, Xi Song, Yu Li, Wei Chen, Genshe Tianjin Univ Sch Elect Engn & Automat Tianjin Peoples R China Shenyang Inst Automat State Key Lab Robot Shenyang Liaoning Peoples R China Calif State Univ Dept Comp & Elect Engn & Sci Bakersfield CA 93311 USA Intelligent Fus Technol Inc Germantown MD USA

This article presents a strategy for hand-free control of an nao humanoid robot via head gesture detected by Google Glass-based multi-sensor fusion. First, we introduce a Google Glass-based robot system by integrating the Google Glass and the nao humanoid robot, which is able to send robot commands through Wi-Fi communications between the Google Glass and the robot. Second, we detect the operator's head gestures by processing data from multiple sensors including accelerometers, geomagnetic sensors and gyroscopes. Next, we use a complementary filter to eliminate drift of the head gesture reference, which greatly improves the control performance. This is accomplished by the high-pass filter component on the control signal. Finally, we conduct obstacle avoidance experiments while navigating the robot to validate the effectiveness and reliability of this system. The experimental results show that the robot is smoothly navigated from its initial position to its destination with obstacle avoidance via the Google Glass. This hands-free control system can benefit those with paralysed limbs.

关键词： Hand-free control Google Glass head gesture nao humanoid robot reference drift sensor fusion complementary filter

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An online background subtraction algorithm deployed on a nao humanoid robot based monitoring system

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robotICS AND AUTONOMOUS SYSTEMS 2016年 85卷 37-47页

作者： Hu, Yang Sirlantzis, Konstantinos Howells, Gareth Ragot, Nicolas Rodriguez, Paul Univ Kent Canterbury CT2 7NZ Kent England ESIGELEC Rouen France Pontificia Univ Catolica Peru Lima Peru

In this paper, we design a fast background subtraction algorithm and deploy this algorithm on a monitoring system based on nao humanoid robot. The proposed algorithm detects a contiguous foreground via a contiguously weighted linear regression (CWLR) model. It consists of a background model and a foreground model. The background model is a regression based low rank model. It seeks a low rank background subspace and represents the background as the linear combination of the basis spanning the subspace. The foreground model promotes the contiguity in the foreground detection. It encourages the foreground to be detected as whole regions rather than separated pixels. We formulate the background and foreground model into a contiguously weighted linear regression problem. This problem can be solved efficiently via an alternating optimization approach which includes continuous and discrete variables. Given an linage sequence, we use the first few frames to incrementally initialize the background subspace, and we determine the background and foreground in the following frames in an online scheme using the proposed CWLR model, with the background subspace continuously updated using the detected background information. The proposed algorithm is implemented by Python on a nao humanoid robot based monitoring system. This system consists of a control station and a nao robot. The nao robot acts as a mobile probe. It captures image sequence and sends it to the control station. The control station serves as a control terminal. It sends commands to control the behavior of nao robot, and it processes the image data sent by nao. This system can be used for living environment monitoring and form the basis for many vision-based applications like fall detection and scene understanding. The experimental comparisons with most recent algorithms on both benchmark dataset and nao captures demonstrate the high effectiveness of the proposed algorithm. (C) 2016 Published by Elsevier B.V.

关键词： Background subtraction Contiguity nao humanoid robot Monitoring system

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Multi-sensor information fusion: Combination of fuzzy systems and evidence theory approaches in color recognition for the nao humanoid robot

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robotICS AND AUTONOMOUS SYSTEMS 2018年 100卷 302-316页

作者： Boukezzoula, Reda Coquin, Didier Thanh-Long Nguyen Perrin, Stephane Univ Savoie LISTIC BP 80439 F-74944 Annecy Le Vieux France

This paper investigates the conception of a real-time decision system for colored object recognition using cheap and uncalibrated cameras. The proposed decision system, embedded in a humanoid robot evolving in an uncontrolled environment, is based on the collaboration between a fuzzy system and a data multi-sensory fusion methodology. Based on the ability of fuzzy systems to exhibit any type of behavior mapping, the color recognition problem using a single camera is viewed as a Takagi-Sugeno fuzzy system with Constant Conclusions (TSCC). Indeed, the behavior between the HSV triplet extracted from the image (captured by the robot's camera) and the recognized colored object is represented by a TSCC. In this context, it is well known that a single sensory system is only capable of supplying partial information and is consequently limited in its ability to interpret complex situations, especially in imprecise and uncertain environments where ambiguities and conflicts among colors are often present. In other words, a decision system based on a single camera cannot reflect real situations and can affect the reliability and the quality of the color recognition. In order to overcome this problem, the integration of more than one camera in the recognition process is proposed. The data provided from these cameras is always affected by some level of impreciseness as well as uncertainty in the measurements. So, the proposed multi-camera fusion strategy based on evidence theory should be able to express such imperfections effectively, to reduce their effects, to exploit the data redundancy, to integrate the reliability of sources and to improve the color recognition accuracy. The feasibility and the validity of the proposed methodology are experimentally validated according to an embedded real-time implementation on the nao humanoid robot. (C) 2017 Elsevier B.V. All rights reserved.

关键词： Colored recognition system HSV color space Fuzzy systems (FS) Takagi-Sugeno with constant conclusions (TSCC) Evidence theory nao humanoid robot Multi-camera information fusion

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Assistance via IoT networking cameras and evidence theory for 3D object instance recognition: Application for the nao humanoid robot

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INTERNET OF THINGS 2020年 9卷

作者： Didier, Coquin Boukezzoula, Reda Benoit, Alexandre Nguyen, Thanh Long Univ Savoie Mt Blanc Lab Informat Syst Traitement Informat & Connaissa BP 80439 F-74944 Annecy France

Object recognition problem based on cameras has become one of the most important tasks in robotics. Nevertheless, for a robot equipped with a camera and evolving in uncontrolled environment, many factors can limit the quality of its recognition, such as lighting conditions, conflict situations, occlusion, and cameras orientations, etc. Under theses imperfections, a single robot camera can provide incomplete and unreliable information and is thus limited to deal with complex recognition situations, particularly in imprecise and uncertain environments. Under such circumstances, in this paper, an IoT (Internet of Things) multi-camera embedded 3D object recognition system, including a nao humanoid robot and other IoT heterogeneous cameras (2D and 3D), is proposed. These cameras can be complementary, and their combination increases the recognition reliability of the single robot camera. The used IoT infrastructure allows the communication between the robot and different connected cameras using internet protocols. The proposed recognition system uses evidence theory to fuse the data issued from these IoT sources for making the recognition decision. This paper aims at demonstrating the advantages of coupling the IoT technology with the evidence theory concepts for improving the 3D object recognition for the nao robot. Through the proposed application, our method has been validated and its performance has been compared with a deep learning approach. (C) 2019 Elsevier B.V. All rights reserved.

关键词： 3D object recognition IoT and Wi-Fi network Information fusion Uncertainty and evidence theory 2D and 3D cameras nao humanoid robot

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Development of a nao humanoid robot Able to Play Tic-Tac-Toe Game on a Tactile Tablet 2nd

Development of a Nao Humanoid Robot Able to Play Tic-Tac-Toe...

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2nd Iberian robotics Conference (robot)

作者： Calvo-Varela, Luis Regueiro, Carlos V. Canzobre, David S. Iglesias, Roberto CITIUS Ctr Singular Invest Tecnoloxias Informac Santiago De Compostela 15782 Spain Univ A Coruna Dept Elect & Syst Coruna 15071 Spain

ISBN: (纸本)9783319271460;9783319271453

This paper describes the challenges that involve playing with the nao humanoid robot on a tablet. For that purpose, an inverse kinematic solver that allows the robot to move it's limbs, and a computer vision algorithm that allows the robot to understand the items displayed on the tablet, are needed. The presented solution uses naoqi's Cartesian Control and OpenCV's Hough Transform respectively. To overcome the lack of force and tactile sensors on nao's hand, we propose a touch movement based on visual feedback. As an initial approach, we chose the Tic-Tac-Toe game and we introduced interaction mechanisms to make it more pleasant and enjoyable, with the objective of creating a template for HRI and machine learning integration. The experimental results show the robustness of the proposed architecture.

关键词： nao humanoid robot Computer vision Inverse Kinematic Solver Tic-Tac-Toe game Human robot Interaction

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Curvilinear Bipedal Walk Learning in nao humanoid robot using a CPG Based Policy Gradient Method

Curvilinear Bipedal Walk Learning in Nao Humanoid Robot usin...

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2nd International Conference on Mechanical and Aerospace Engineering (ICMAE 2011)

作者： Shahbazi, Hamed Jamshidi, Kemal Monadjemi, Amir Hasan Univ Isfahan Dept Comp Engn Esfahan Iran

ISBN: (纸本)9783037852620

In this paper we will introduce a new learning approach for curvilinear bipedal walking of nao humanoid robot using policy gradient method. A policy of walking is modeled by some policy parameters controlling some factors in programmable central pattern generators. A "Programmable" central pattern generator is made with coupled nonlinear oscillators capable to shape their state equations with some training trajectories. The proposed model has many benefits including smooth walking patterns, and modulation during walking to increase or decrease its speed. A suitable curvilinear walk was achieved, which is very similar to human ordinary walking. This model can be extended and used in nao soccer player both in standard platform and 3D soccer simulation leagues of Robocup competitions to train different types of motions.

关键词： Curvilinear walking Central Pattern Generators Policy Gradient Learning nao humanoid robot Bipedal Walking

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An Auto-Operated Telepresence System For the nao humanoid robot

An Auto-Operated Telepresence System For the Nao Humanoid Ro...

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3rd International Conference on Communication Systems and Network Technologies (CSNT)

作者： Fuerler, Lukas Nagrath, Vineet Malik, Aamir Saeed Meriaudeau, Fabrice Univ Bourgogne Le Creusot France

ISBN: (纸本)9780769549583;9781467356039

This paper presents the development process of an auto-operated telepresence system for the nao humanoid robot with the main functionality of directing the robot autonomously to an operator-defined target location within a static workspace. The workspace is observed by an array of top-view cameras, which are used to localize the robot by means of a color-based marker detection technique. The system is accessible world-wide to the remote operator through any Internet-capable device via a web-based control interface. The web server responsible for coordinating the communication between system and operator is hosted on a cloud-based infrastructure online. The system was realized as a case study for the Agent Relation Charts (ARCs), a new model-driven design methodology for multi-agent cloud-based systems conceived at the Le2i laboratory in Le Creusot, France.

关键词： nao humanoid robot Agent Relation Charts Multi Agent Systems Telepresence Teleoperation Cloud Computing

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Falling Detection of Lonely Elderly People Based on nao humanoid robot

Falling Detection of Lonely Elderly People Based on NAO Huma...

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IEEE International Conference on Information and Automation (ICIA)

作者： Zhang, Tianxiao Zhang, Wanting Qi, Lin Zhang, Li Northeastern Univ Sinodutch Biomed & Informat Engn Sch Shenyang 110819 Peoples R China

ISBN: (纸本)9781509041022

In recent years, elderly people are suffering an increasingly severe problem in their home due to the falls. Falling down is the most common cause of death among the elderly. This paper proposed a falling detection algorithm based on a humanoid robot to monitor and detect the motion of the elderly who live alone. A stream of the videos obtained from the robot cameras are transmitted to the personal computer via Wi-Fi, and then the image data will be analyzed by the MATLAB procedure algorithm, including extracting foreground, eliminating noise from foreground, evaluating Motion History and determining ellipse statistical properties to determine whether a falling has happened. If a fall occurs, the robot will raise an alarm to call for help through microphone. This algorithm will help the elderly receive timely medical treatment in order to minimize the falling risk and the company of nao will enhance the elderly's sense of security.

关键词： Lonely elderly people Falling detection MATLAB algorithm nao humanoid robot

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Method and Experiment of the nao humanoid robot Walking on a Slope Based on CoM Motion Estimation and Control 10th

Method and Experiment of the NAO Humanoid Robot Walking on a...

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10th International Conference on Intelligent robotics and Applications (ICIRA

作者： Yuan, Qingdan Xi, Zhigang Lu, Qinghua Lin, Zhihao Foshan Univ Sch Mechatron Engn Foshan 528000 Guangdong Peoples R China

ISBN: (纸本)9783319652986;9783319652979

In this paper, a method of biped walking on a slope is studied, taking the nao humanoid robot as research object. Firstly, we adopt the 3D linear inverted pendulum mode (3D-LIPM) to generate walking pattern, and obtain the reference trajectory of the center of mass (CoM). Then the Denavit-Hatenberg (D-H) parameters of the leg chain are determined based on the analysis of the nao leg configuration. Finally in the process of walking, an extended Kalman filter (EKF) via fusing sensor data is used to estimate the robot's CoM motion, in addition, an inverse kinematics (IK) controller is implemented which regulates the CoM position state in real time based on position tracking errors. On a slope with given angle, walking uphill and downhill experiments are conducted. The experimental results show that for the nao humanoid robot, the deviation of walking direction can be controlled within 2 cm, so that it can keep walking stability for a long distance.

关键词： nao humanoid robot Biped walking CoM motion estimation

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