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Project Proposal [5HC99]:Nao Robot playing Checkers
Natalia IrigoyenWouter Kuijpers
Alejandro Betancourt
Outline of Presentation
1. Project Overview2. Main Challenges & Subgoals
3. Project Materials4. Planning
5. Progress so far
Outline of Presentation
1. Project Overview2. Main Challenges & Subgoals
3. Project Materials4. Planning
5. Progress so far
Nao playing Checkers
• Implementing more sophisticated behavior on a Nao-Robot
Make the Nao-Robot play checkers with a human opponent.
Nao Robot
“The first camera, located on NAO’s forehead, scans the horizon, while the second located at mouth level scans the immediate
surroundings.” – 1220 px, 30 fps
Camera
Camera
“NAO is a programmable, 58cm tall humanoid Robot with 25 Degrees Of
Freedom (DOF) whose key elements are
Electric Motors and Actuators”
www.aldebaran.com/en/humanoid-robot/nao-robot
Nao Robot’s Processing
• Intel ATOM 1,6 Ghz CPU (located in the head) • Second CPU (No Specs) (located in the torso)
• NAO’s SDK lets you develop your own modules with OpenCV and supports image feedback
Outline of Presentation
1. Project Overview2. Main Challenges & Subgoals
3. Project Materials4. Planning
5. Progress so far
Main Challenges – Nao’s Vision
• Observe the State of the Game (using Vision)• Calibration of Stereo-Camera’s• Detect objects of interest in 2D Space
Main Challenges – The Game
12
3
• Follow a Designed Strategy (Processing)• Finite-Horizon Optimization Problem• Implementation of the Algorithm in Python
Main Challenges – Nao’s Control
• Move the Checker Pieces (Control of Nao’s Arm)• Controlling Nao’s arm • Grasping objects• Estimate the position of objects in real world and
relative to the end-effector for grasping purposes
Checker Piece
Nao’s Fingers
Modified Checker Piece
Outline of Presentation
1. Project Overview2. Main Challenges & Subgoals
3. Project Materials4. Planning
5. Progress so far
Project Materials
• Nao Robot – available at the Faculty of Industrial Design.
• Make a modified checkers game for the Nao robot.
As the Nao Robot (5000 Euro) is already available we do not expect this project to have a total cost higher than 60 Euro.
Outline of Presentation
1. Project Overview2. Main Challenges & Subgoals
3. Project Materials4. Planning
5. Progress so far
Planning
Division of Responsibilities• Control of Nao – Wouter Kuijpers• Vision of Nao – Natalia Irigoyen• Checkers System – Alejandro Betancourt
Rough Planning• Finish of Main Challenges – Finish Start of May• Start Merging separate Codes
Outline of Presentation
1. Project Overview2. Main Challenges & Subgoals
3. Project Materials4. Planning
5. Progress so far
Progress so Far
• Design overall Software architecture • Connect Python-scripts to Nao Simulator
• Perform basic movement of Nao’s Arm• Exploring the coordinate reference frames of
the Nao Robot.
• Small Demo using Nao Simulator
Thank you!