project proposal [5hc99]: nao robot playing checkers natalia irigoyen wouter kuijpers alejandro...

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!