Development of a Nao Humanoid Robot Able to Play Tic-Tac-Toe Game on a Tactile Tablet

Abstract

This paper describes the challenges that involve playing with the Nao humanoid robot on a tablet. For that purpose, an inverse kinematic solver that allows the robot to move it’s limbs, and a computer vision algorithm that allows the robot to understand the items displayed on the tablet, are needed. The presented solution uses NAOqi’s Cartesian Control and OpenCV’s Hough Transform respectively. To overcome the lack of force and tactile sensors on Nao’s hand, we propose a touch movement based on visual feedback. As an initial approach, we chose the Tic-Tac-Toe game and we introduced interaction mechanisms to make it more pleasant and enjoyable, with the objective of creating a template for HRI and machine learning integration. The experimental results show the robustness of the proposed architecture.