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Collaborative Action Planning for Humanoid Robots Exchanging a Small Object
KTH, School of Electrical Engineering (EES), Automatic Control.
2014 (English)Independent thesis Advanced level (professional degree), 20 credits / 30 HE creditsStudent thesis
Abstract [en]

This thesis focuses on the collaborative action planning for humanoid robot

agents alone with each other or with a human agent. The action performed

by these agents consists of exchanging a small deformable monochrome object

using one arm. This situation occurs for instance when robots are employed to

help elderly or disabled persons at home or retirement houses get an object dif-

cult to reach, tidy rooms,etc. The used robots are NAOs made by Aldebaran


The thesis covers details about behavior trees which are a formal method used

to plan the exchange and synchronize the NAOs, the Robot Operating System

ROS which gives a global structure for the computer code, and NAOs with their

software environment.

This work also focuses on the image processing algorithms (HSV-lters, Connected-

Components Labeling and Union-Find) that were used to detect an object and

get its contour in the NAO's camera image, and the geometric applications that

allow to get the 3D-position of a quasi-spherical object, knowing its dimensions

and its projection on a camera focal plane.

Place, publisher, year, edition, pages
2014. , 81 p.
National Category
Control Engineering
URN: urn:nbn:se:kth:diva-151018OAI: diva2:746337
Available from: 2014-09-12 Created: 2014-09-12 Last updated: 2014-09-12Bibliographically approved

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