Development of a self reliant humanoid robot for sketch drawing

Development of a self reliant humanoid robot for sketch drawing This paper demonstrates the capability of humanoid robot in the field of sketch drawing. Sketch drawing is a complex job which requires three basic problems to be solved. The first problem is to extract prominent features (the image point) of the object shown. Second is to define the image points lying on the Humanoid’s camera plane with respect to its end effector position. The third problem is to provide the inverse kinematic solution and control strategy for smooth drawing. A H25 NAO humanoid robot is used as a test-bed in this paper to conduct this experiment and illustrate the whole process. A calibration matrix is defined which transforms image points in NAO body coordinate system while inverse kinematics has been solved using a gradient descent numerical method. The analytical solution of the inverse kinematics for NAO’s hands are not suitable due to its mechanical design which is not following the piper’s recommendation. The Denavit-Hartenberg (DH) parameters of the system has been defined in order to measure the working envelope of the right hand as well as to avoid singularities. http://www.deepdyve.com/assets/images/DeepDyve-Logo-lg.png Multimedia Tools and Applications Springer Journals

Development of a self reliant humanoid robot for sketch drawing

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Publisher
Springer US
Copyright
Copyright © 2017 by Springer Science+Business Media New York
Subject
Computer Science; Multimedia Information Systems; Computer Communication Networks; Data Structures, Cryptology and Information Theory; Special Purpose and Application-Based Systems
ISSN
1380-7501
eISSN
1573-7721
D.O.I.
10.1007/s11042-017-4358-x
Publisher site
See Article on Publisher Site

Abstract

This paper demonstrates the capability of humanoid robot in the field of sketch drawing. Sketch drawing is a complex job which requires three basic problems to be solved. The first problem is to extract prominent features (the image point) of the object shown. Second is to define the image points lying on the Humanoid’s camera plane with respect to its end effector position. The third problem is to provide the inverse kinematic solution and control strategy for smooth drawing. A H25 NAO humanoid robot is used as a test-bed in this paper to conduct this experiment and illustrate the whole process. A calibration matrix is defined which transforms image points in NAO body coordinate system while inverse kinematics has been solved using a gradient descent numerical method. The analytical solution of the inverse kinematics for NAO’s hands are not suitable due to its mechanical design which is not following the piper’s recommendation. The Denavit-Hartenberg (DH) parameters of the system has been defined in order to measure the working envelope of the right hand as well as to avoid singularities.

Journal

Multimedia Tools and ApplicationsSpringer Journals

Published: Feb 9, 2017

References

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