Inverse Kinematics of NAO’s Right Arm towards its Handwriting a Chinese Character Based on Corner Detection of Character Template

Abstract

The inverse kinematics is very important in robotic application in the case of known object position. This paper explains about the inverse kinematics of right arm robot NAO based on the corner detection of a Chinese character image. The transformation coordinate system from image input of Chinese character to the robot NAO’s frame acceptable writing is needed. In order to control the right arm of robot NAO to write a Chinese character well, it is necessary to make a proper set of the RShoulderRoll angle q1 and the RElbowRoll angle q2, respectively. At first, the thinning processing, corner detection and depth-searching are employed to recognize a Chinese character. Due to the robot NAO just has three fingers, dust the position of the marker or pen-brush must be suitable of its. The experiment results achieve a better demonstration of recognition and handwriting for simple Chinese characters with less than 5 strokes.