The Cooperation Modes for Two Humanoid Robots

Abstract

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.