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首页> 外文会议>Iberian Robotics Conference >Development of a Nao Humanoid Robot Able to Play Tic-Tac-Toe Game on a Tactile Tablet
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Development of a Nao Humanoid Robot Able to Play Tic-Tac-Toe Game on a Tactile Tablet

机译：开发一个能够在触觉平板电脑上发挥Tic-Tac-Toe游戏的Nao人形机器人

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This paper describes the challenges that involve playing with the Nao humanoid robot on a tablet. For that purpose, an inverse kinematic solver that allows the robot to move it's limbs, and a computer vision algorithm that allows the robot to understand the items displayed on the tablet, are needed. The presented solution uses NAOqi's Cartesian Control and OpenCV's Hough Transform respectively. To overcome the lack of force and tactile sensors on Nao's hand, we propose a touch movement based on visual feedback. As an initial approach, we chose the Tic-Tac-Toe game and we introduced interaction mechanisms to make it more pleasant and enjoyable, with the objective of creating a template for HRI and machine learning integration. The experimental results show the robustness of the proposed architecture.
机译：本文介绍了涉及与平板电脑上的Nao人形机器人的挑战。为此目的，允许机器人移动它的四肢的反向运动求解器，以及允许机器人理解平板电脑上显示的项目的计算机视觉算法。呈现的解决方案分别使用Naoqi的笛卡尔控制和OpenCV的Hough变换。为了克服Nao的手上缺乏力量和触觉传感器，我们提出了一种基于视觉反馈的触摸运动。作为一种初步方法，我们选择了TIC-TAC-TOE游戏，我们引入了交互机制，使其更加愉快和愉快，目标是为HRI和机器学习集成创建模板。实验结果表明了拟议建筑的鲁棒性。

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