Diseño y simulación de un sistema de teleoperación de un robot humanoide NAO : sistema de teleoperación de un robot humanoide NAO.

Abstract

The use of communication systems together with the development of technology in recent years allows for teleoperated robots. In this way, it allows the human being to operate equipment without the need to be exposed to environments that may pose a danger when carrying out an activity. Thus, the following document presents the design and simulation of a teleoperation system for a humanoid robot (NAO V6). The first chapter details the information on the softwares to be used, the kinematics of the humanoid robot and the communication protocol used. Information obtained from the research carried out for the implementation of the teleoperation system. The second chapter presents the methodology used in the implementation of the teleoperated system, the data transmission between the local station, the remote station and with Python the data transmission between CoppeliaSim Edu and MATLAB/Simulink for the operation of the NAO V6 humanoid robot. In addition, the analysis of the reliability in the reception and transmission of data of the communication protocol UDP (User Datagram Protocol) is carried out. Finally, the graphical interface developed in App Designer, a tool provided by MATLAB, for each of the stations is presented. It allows the user to remotely operate the humanoid robot with the help of a joystick. The robot's operation can take place in three different scenarios, which can be selected by the user.