The Cooperation Modes for Two Humanoid Robots
| Autor: | Li-Hong Juang |
|---|---|
| Rok vydání: | 2021 |
| Předmět: |
0209 industrial biotechnology
Forward kinematics General Computer Science Social Psychology Computer science Machine vision 02 engineering and technology 020901 industrial engineering & automation Synchronization (computer science) 0501 psychology and cognitive sciences Electrical and Electronic Engineering 050107 human factors Simulation computer.programming_language Inverse kinematics business.industry 05 social sciences Robotics Python (programming language) Mechatronics Human-Computer Interaction Philosophy Control and Systems Engineering Artificial intelligence business computer Humanoid robot |
| Zdroj: | International Journal of Social Robotics. 13:1613-1623 |
| ISSN: | 1875-4805 1875-4791 |
| DOI: | 10.1007/s12369-021-00753-1 |
| Popis: | This paper focuses on the interaction and cooperation between two humanoid robots. In this research, Python language and NAO robot as hardware were used and based on Choregraphe, Webots and other simulation platforms, and through three experiments realize the interactions between two humanoid robots and the cooperation methods. This research used NAO's vision system, and then proposed the method of monocular-visional distance measurement to enable it determining the distance between the object and the target in the real time. The NAO arm is built by the module mainly using the DH method to formulate its forward kinematics and inverse kinematics formulas. This research also used the cloud platform protocols and models for cooperation communications, meanwhile used SOCK_DGRAM with UDP and WAMP (Apache + Mysql /MariaDB + Perl/PHP/Python) for their synchronization control and other aspects of their interactive use. Finally, we elaborated the experimental design procedure and demonstrated the simulation results and the effect of the real experiments. |
| Databáze: | OpenAIRE |
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