Loose coordination motion of the NAO robot based on image
                                                    WANG Xian lun, JIANG Peng peng, FENG Xian dong, CUI Yu xia
              (College of Electromechanical Engineering, Qingdao University of Science and Technology, Qingdao 266042, China)

Abstract: Aiming at the problem of the single arm robot cannot perform well in complex tasks or varied environment conditions, the coordinated motion of dual arm robot was studied. The method of the loose coordinated motion of the NAO robot based on image was proposed. The encoding and decoding methods of Mark marker proposed was described and the problem of different coding value after the rotated coding mark was solved. The visual extraction, recognition and relative positioning method of Mark markers was analyzed. The left arm of NAO robot was marked with four Mark points and the right arm was marked with one Mark point. The camera at the bottom of the NAO and an external camera made up the vision system and the visual control process was described. At last the effect of loose coordinated motion control was verified by the simulation experiment. The results indicate that the NAO robot can accurately identify the marker and quite acceptably complete the loose coordinated motion and laid the foundation for the realization of loose coordinated motion task in industrial applications of low precision.

Key words: dual arm robot; loose coordinated motion; marker; simulation