Identification and control of NAO humanoid robot to grasp an object using monocular vision

摘要

NAO is a humanoid robot which is developed by Aldebaran robotics, a French robotic company having its headquarters in Paris. Various works related to monocular vision for hand eye coordination in NAO robot has been done which are explained in this paper. Camera calibration is done to determine parameters defining relationship between reference 3D coordinate system and camera coordinate frame, which are combined with transformation and parameters related to camera. Control of robotic arm is a bit complex, it requires complete dynamics study and its implementation. Though it is a wide area, some of the works are done on its arm control using different methods. Accurate control requires identification of D-H parameters and forward and inverse kinematics of NAO arm which needs to have knowledge about degrees of freedom (DOF). Adaptive Neuro Fuzzy Inference System(ANFIS) is used for inverse kinematics calculation. Future works in this direction could be implementing controllers which would help to reduce the stability problem.