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Project Update #5: Nao Robot playing Checkers

Project Update #5: Nao Robot playing Checkers. Natalia Irigoyen (Presenting) Wouter Kuijpers (Presenting) Alejandro Betancourt Nao Robot. Nao playing Checkers. Implementing more sophisticated behavior on a Nao-Robot. Make the Nao-Robot play checkers with a human opponent.

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Project Update #5: Nao Robot playing Checkers

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  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 and , depending on wrist center. • Determine , and 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!

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