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

Abstract

In the following research project, we present the design and simulation of an artificial intelligence-based controller for the movement of a NAO V6 humanoid robot on a fixed trajectory. A comparison was made between the AI-based controller, a PID controller, and a Lyapunov-based controller implemented in previous works. Three types of trajectories were used for this comparison: circular, square, and a rotated lemniscate. Additionally, we developed a graphical interface using Simulink/Matlab, which allows the user to visualize the selected trajectory and the trajectory performed by the robot, as well as the overall behavior of the controllers. The implementation of the AI-based controller was achieved using an artificial neural network. The neural network was trained using data from trajectories and robot behaviors. The simulation allowed us to evaluate the effectiveness of the AI-based controller in the selected trajectory and compare its performance with the PID and Lyapunov controllers.