Kinematic Analysis and Path Planning of Humanoid NAO

Abstract

In present scenario out of all the robots the humanoid robots are having greater importance because of their easy adaptability to human environment and appearance like human beings. They are able to perform various difficult and boring tasks with greater accuracy and hence are widely accepted. The main focus in these days is to navigate humanoid robots in the human environment. These navigations can be performed through various classical methods and modern artificial intelligence techniques. The work presented here deals with the path planning of the NAO humanoid robot. For this purpose, first kinematic analysis was done for the Humanoid NAO. In the present work classical method of regression analysis and artificial intelligence technique of fuzzy logic were implemented separately for the purpose obstacle avoidance during the motion of the humanoid nao. The simulation work is done using VREP 3.1.3 software. The experiments were done in the lab with proper environmental condition for the working of the humanoid NAO. Finally, a comparison was made between the simulation results and the experimental results for both the cases of regression and fuzzy logic.