Design and Implementation of Autonomous Stair Climbing with Nao Humanoid Robot
Lu, Wei (2015)
Vaasan ammattikorkeakoulu
2015
All rights reserved
Julkaisun pysyvä osoite on
https://urn.fi/URN:NBN:fi:amk-201505188582
https://urn.fi/URN:NBN:fi:amk-201505188582
Tiivistelmä
With the development of humanoid robots, autonomous stair climbing is an important capability. Humanoid robots will play an important role in helping people tackle some basic problems in the future.
The main contribution of this thesis is that the NAO humanoid robot can climb the spiral staircase autonomously. In the vision module, the algorithm of image filtering and detecting the contours of the stair contributes to calculating the location of the stairs accurately. Additionally, the strategy of climbing the spiral staircase is based on the vision system. Moreover, the mathematical model is utilized to calculate the angle of the stairs and the distance between the NAO humanoid robot and the each stair. In addition, animations of climbing the stairs are established by using key frames.
In this thesis, 5th generation NAO robot was used for developing this application. This application was mainly developed by using Python programming language based on Windows 8 operating system and Naoqi 2.1 operating system. Moreover, this application was simulated by Webots at Windows 8 operating system. In addition, Open Source Computer Vision Library (OpenCV) was used for processing image. Choregraphe 2.1.2 was used for designing the behavior of climbing the stairs. In this thesis, the implementation methods were definition, analysis, design, implementation and testing.
In conclusion, the humanoid NAO robot has powerful functionality and humanoid robot will become more and more popular in the future. In this project, the robot achieves the capability of climbing the spiral staircase autonomously.
The main contribution of this thesis is that the NAO humanoid robot can climb the spiral staircase autonomously. In the vision module, the algorithm of image filtering and detecting the contours of the stair contributes to calculating the location of the stairs accurately. Additionally, the strategy of climbing the spiral staircase is based on the vision system. Moreover, the mathematical model is utilized to calculate the angle of the stairs and the distance between the NAO humanoid robot and the each stair. In addition, animations of climbing the stairs are established by using key frames.
In this thesis, 5th generation NAO robot was used for developing this application. This application was mainly developed by using Python programming language based on Windows 8 operating system and Naoqi 2.1 operating system. Moreover, this application was simulated by Webots at Windows 8 operating system. In addition, Open Source Computer Vision Library (OpenCV) was used for processing image. Choregraphe 2.1.2 was used for designing the behavior of climbing the stairs. In this thesis, the implementation methods were definition, analysis, design, implementation and testing.
In conclusion, the humanoid NAO robot has powerful functionality and humanoid robot will become more and more popular in the future. In this project, the robot achieves the capability of climbing the spiral staircase autonomously.