NaoPuppet

Using Kinects V1 and copying Human arm movements on Nao. This works by translating the angle between lower-arm/upper-arm/human-torso to Nao Elbow and Shoulder roll/pitch/yaw interpolations.

This works with both Nao and Pepper. We never used this directly in experiments. This was a starting point for experimentation with Nao/Pepper's capabilities and how to interface it with other devices we had available.

Requirements

Nao or Pepper

python 2.7 installed as instructed by Aldebaran

Kinect V1 and related drivers

The following python packaged:

pynaoqi pykinects pygame

To run

Connect the kinects to the computer. Set the ip to the ip of the robot in naoKinect.py.

use: python my_nao_track.py

Note

Be careful with sudden arm movements Nao can fall over as we are not taking care of balance here.

Lesson learnt: There is difference between mechanically copying joint angles and copying movement intentions.