Development & Analysis of walk thorugh algorithm for a NAO Robot

Project Title

Development & Analysis of walk thorugh algorithm for a NAO Robot

Project Area of Specialization RoboticsProject Summary

Nao is an autonomous humanoid robot, which has self-decision making capability because of its OS, Microcontrollers, and coordination of sensors. The sensors helps it to move around freely without collision and make decisions to avoid obstacle.it was developed by Aldebaran Robotics in 2004, (later on this company was acquired by softBank in 2015).

The NAO robot has 25 joints and 25 degrees of freedom, or directions in which motion can occur on its body.

NAO also has two HD cameras, four microphones, and 10 tactile sensors (three on the head, one on the chest, one on each hand, and two on each foot)

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Nao has two HD camera at eyes, 4 microphones to detect sounds, and ten tactile sensors (touch sensors), three on head, one on chest, two on each feet, and two on hands. The head sensors help it to detect the obstacle if it is moving through a tunnel type path, hands can sense if it touches something, the feet sensors are to avoid contact with obstacles. And if it falls the chest sensor helps it to detect that it has fallen and need to stand again.

In this report we are going to design such a simple and easy algorithm which will ensure the stability, kinematics, obstacle avoiding, and proper mapping of the work space. Due to the rough nature of floor the stability of the robot may be disturbed so it is necessary for smooth walking to control the kinematics and relative motion of hands and body to ensure the stability. Moreover mapping is one of the important factor to detect obstacles, its volume and decide a clear and short path for its motion.  In this report we will compare this algorithm with the existing ones and will try to improve the motion (kinematics and stability), and mapping capabilities of Nao.

Project Objectives

the following are the some objectives of our project.

1.To implent and observe the existing alogorithm.

2. To design an algorithm to observe the stability, kinematics and mapping capabilities of Nao through simulation.

3. To implement the simulation on hardware and observe it on real time.

4.Coparing the results of different algorithms.

Project Implementation Method

The methodology and road map for the implementation of this project is that first we need to have strong knowledge of the Nao robot, its design and working process. This knowledge can be gained by the literature review in which our focus will be studying about the structure, design, capabilities, application, methods of simulation, working environment and other requirements like power and control.

 After gaining sufficient knowledge we will design our simulation (algorithm, software based) and will help us to observe the process and how the desired output can be achieved. For simulation the software like Choreography can be used for designing the prototype algorithm. Working with simulation will help us to observe the output and improve the algorithm if it is needed and can be compared easily with the existing ones.

Once we achieve the desired output through simulation, it can be installed on the hardware, and again there be observation phase to compare the output from simulation and hardware. And the algorithm can be improved whenever it is needed.

Benefits of the Project

following are the some benfits of our assign project.

1.To avoid any harm while working in the specific environment.

2.To retain its position even if the plane or workspace is not same.

3.To mapp the surrounding and then follow the best and shortest path to reach its target.

Technical Details of Final Deliverable

our project has the following final deliveries.

1.To design such a NAO robot which can mapp its surrounding.

2.To make NAO robot retain its stability while walikng and turning.

3.To make NAO robot avoid the obsticles on its way

4.To make NAO robot to reach its target easily

Final Deliverable of the Project HW/SW integrated systemCore Industry ITOther Industries Telecommunication Core Technology RoboticsOther Technologies Artificial Intelligence(AI), Internet of Things (IoT)Sustainable Development Goals Industry, Innovation and InfrastructureRequired Resources

Item Name	Type	No. of Units	Per Unit Cost (in Rs)	Total (in Rs)
			Total in (Rs)	55600
Digital Video Recorder	Equipment	1	18000	18000
Arena and Obstacle	Equipment	20	350	7000
Micro SD Card	Equipment	2	3050	6100
Overheads	Miscellaneous	1	9500	9500
RAM	Equipment	2	7500	15000