NAO Robot's Vision Control and Kick Motion Generation

Abstract

This case study explores the enhancement of the Nao robot’s soccer-playing capabilities in the Standard Platform League (SPL) by integrating a vision-based system. Robots’ computer vision capabilities such as ball recognition, ball tracking, and motion capabilities like kicking and shooting are explored. The bottom camera tracks a red ball, and the top camera detects the goal. The robot navigates towards the ball, adapting its position for a precise kick to the left or right. Safety measures are embedded, ensuring the robot refrains from movement or kicking if the ball is not visible. The process of kick generation and execution is also discussed; whereas, the kick motion of the robot is controlled by setting the ball’s boundary conditions. This study highlights the feasibility of the Nao robot as a soccer player and provides insights into integrating robotics and programming in sports.