Interaction of a Humanoid Robot Nao with a Non-Humanoid Walking Robot

摘要

The paper considers a novel algorithm for performing joint tasks between a humanoid robot NAO and a low-budget (Low-Cost) walking robot Big Foot. The specific construction of Big Foot allows movement by walking, change of direction and overcoming obstacles by using only two engines. The principle of movement of Big Foot is presented and the parameters, which determine the step and velocity of movement, are discussed. NAO robot sets the beginning of task execution and controls reaching the target position by the non-humanoid robot. NAO sonars are employed for this purpose. The non-humanoid robot Big Foot is controlled remotely by a human. The information on the timing of the executed movements and the reaching of the target is collected in several ways by using the sensors of NAO and Big Foot. The obtained results are analysed. Possibilities for application of the proposed algorithm are discussed.