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

Abstract

This document shows how to control the humanoid robot NAO through the development of a Lyapunov-based position control algorithm, how to simulate and how to establish communication between different programs for data and command transfer. In the first instance, it is exposed that the kinematics and dynamics of the NAO robot is found in the CoppeliaSim.edu Software and the position data with respect to the reference frame of the NAO robot will be sent to Python, it is shown as the data transfer between Python -CoppeliaSim edu is done using remote APIs. In the second instance, the functionalities of the NAOqi library are disclosed, which allows the commands available in the Choregraphe software to be easily executed within the Python software using a Proxy, the proxy commands allow the robot to execute the control action coming from the controller found in Simulink. In the third instance, the controller algorithm that runs in Simulink and how to transfer data between Matlab/Simulink-Python using UDP is shown. Finally, it is exposed how to develop the Lyapunov-based position control of the NAO robot through a reduced model based on the kinematic model of a Unicycle robot and how it behaves in the NAO humanoid robot before multiple changes of reference, the results are analyzed which is obtained using performance indices such as the ISE and ISU.