Design and implementation of kinematics model and trajectory planning for NAO humanoid robot in a tic-tac-toe board game

The ability of NAO robot to play tic-tac-toe board game using its hands is greatly determined by the kinematics model of NAO´s arms and the use of trajectory planning for manipulation tasks. In this paper, kinematics models for NAO´s upper body are presented. The forward kinematics models are designed by using the modified Denavit-Hartenberg convention. The inverse kinematics models of 5-joints NAO´s arms are obtained by using analytical inverse transform technique in which provide unique and feasible solutions. The movement of NAO´s arms while playing tic-tac-toe is constructed by using the proposed 3-Dimensional Cartesian Space trajectory planning method. The test result shows that the implemented trajectory planning method along with kinematics model are able to make NAO robot plays tic-tac-toe well by using its hands.