The Secondary Development Based On NAO Service Robots

With the rapid development of robotics, service robots have a great improvement in reliability and usability. In the meantime, human beings put forward higher requirements with social progress, and a large number of robots access to families, such as cleaning robots, security robots, etc. Therefore, there are significant meanings in using service humanoid robots in the home environment. It will improve the intelligentialize and informatization level in families effectively, and provide more comfortable, secure family living environment. This paper aims at designing intelligent service humanoid robots which are suitable for using in families, realizing three functions: home security, life assistant and interactive entertainment by secondary development of NAO-H25 humanoid robot.In this article, the designing scheme of family service robot is presented based on the secondary development of NAO-H25 humanoid robot, including three functions: home security, life assistant and interactive entertainment. The work is carried out as following respects: 1) Putting forward a path planning technology which is based on the improved artificial potential field method, including: a) Adding virtual local target to solve the problem of local least value; b) Considering the volume of obstacles to improve the practicality of algorithm; c) Optimizing the path planning to obtain a shortest path, and reducing walking time and energy consumption of the robot effectively. The availability of above improvements are verified by MATLAB simulation. In addition, NAO robot autonomous path planning and obstacle avoidance are realized through combining with above algorithm. 2) Realizing voice recognition and deep voice dialogue function in NAO robot by combining with online voice recognition technology, and solving the problem of limited local language library resources. 3) Realizing the control of body movements by using D-H method to model robot linkage and joints and the expected position of inverse kinematics equation. Using the secondary development platform of NAO robot to design and implement following family service robot functions: security patrol, looking for the lost, face recognition, voice recognition, weather forecast, deep voice dialogue, interactive entertainment, etc.