Sit To Stand Motion Algorithm Of Nao Robot

Ng, Ke Voon (2012) Sit To Stand Motion Algorithm Of Nao Robot. Project Report. UTeM, Melaka, Malaysia. (Submitted)

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Abstract

Sit to stand motion is a challenge for any humanoid robot including NAO robot in providing stability and performance. In the project, the stability and the method of sit to stand motion will be studied. The method used is the cubic polynomial trajectory generation by verifYing the result of Markerless Computer Vision Technique. The python programming language is used to simulate on the Choregraphe. The percentage of deviation at 2s is 2.9% and drop of the percentage of deviation is 7.4% from 1.5s to 2.0s. By increasing the time of motion. the percentage of deviation decreases but it is not significant so 2.0s is chosen. The significant difference between the left and right part of leg at the graph ofRMSE value is because of the zero error at the right and left parts of the leg. The result is proven with the finding of the mechanical defect of 0.9cm difference between the left and right leg. One of those is the left knee where the percentage error is 0.255% and the right knee has a percentage error of0.573%. From the finding, the velocity of the motion is directly proportional to the root mean square error. At the end, the NAO robot is able to perform the sit to stand motion with the cubic polynomial method base on trajectory generation with stability.

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