AWERProcedia Information Technology & Computer Science

Vol 03 (2013) 1689-1693

3rd World Conference on Information Technology (WCIT-2012)

Controlling Humanoid NAO Robots Using a Web Interface

Panfir Alina Ninett *, Transilvania University of Brasov, Eroilor 29, Brasov 500036, Romania. Butil Eugen Valentin, Transilvania University of Brasov, Eroilor 29, Brasov 500036, Romania. Boboc Razvan, Transilvania University of Brasov, Eroilor 29, Brasov 500036, Romania. Mogan Gheorghe, Transilvania University of Brasov, Eroilor 29, Brasov 500036, Romania.
Suggested Citation: Ninett, A., P., Valentin, E., B., Razvan, B. & Gheorghe, M. Controlling Humanoid NAO Robots Using a Web Interface, AWERProcedia Information Technology & Computer Science . [Online]. 2013, 3, pp 1689-1693. rd Available from: http://www.world-education-center.org/index.php/P-ITCS Proceedings of 3 World Conference on Information Technology (WCIT-2012), 14-16 November 2012, University of Barcelon, Barcelona, Spain. Received 19 January, 2013; revised 18 May, 2013; accepted 09 September, 2013. Selection and peer review under responsibility of Prof. Dr. Hafize Keser. 2013 Academic World Education & Research Center. All rights reserved. Abstract This paper describes a new model to control the NAO robots, using a web interface. The system proposed allows the users from all over the world to control the NAO robots (to make them execute different tasks) in real time, the only if/ condition being a valid internet connection. For developing this model several applications had been used, such as: PHP, HTML, Java Scrip, and CSS. The results of the proposed model for controlling the humanoid NAO robots show the premise of the approach. Keywords: NAO robots, web interface, control robots;

* ADDRESS FOR CORRESPONDENCE: Panfir Alina Ninett, Transilvania University of Brasov, Eroilor 29, Brasov 500036, Romania, E-

mail address: alina.panfir@unitbv.ro / Tel.: +40-728-225-544

Ninett, A., P., Valentin, E., B., Razvan, B. & Gheorghe, M. Controlling Humanoid NAO Robots Using a Web Interface, AWERProcedia Information Technology & Computer Science. [Online]. 2013, 3, pp 1689-1683. Available from: http://www.world-educationcenter.org/index.php/P-ITCS

1. Introduction NAO is a humanoid robot developed by the firm Aldebaran Robotics, which is currently used for research and educational purposes in over 300 universities from 30 different countries. Aldebaran Robotics estimates that in 2013 a new commercial version of the robot will be released. NAO has the ability to see, hear, feel and communicate. Its moves are fluid, and it has the ability to detect and avoid obstacles. NAO is being used for researches in robotics, artificial intelligence, medical applications, and studies upon the psychological variables which are implicated in the human-robot interaction. The first part of the paper presents the methods of controlling the humanoid NAO robots and the systems architecture, while the second part presents the developed interface through which the robots are being commanded and the final results. 1.1 Controlling methods of the humanoid robots Bipedal locomotion control is an important part of intensive research about humanoid robots in recent years; this is proved by numerous scientific papers in this field. Yazdi presented in paper a gait controller for locomotion of biped robots. A simple Fourier series is based algorithm that has been used for controlling of robot (Yazdi, 2011). The other researchers implemented an omnidirectional ZMP-based walk engine for the NAO robot. Using a simple inverted pendulum model, a preview controller generates dynamically balanced centred of mass trajectories. To enable path planning, introduced a system of global and egocentric coordinate frames to define step placement. These coordinate frames allow translation of the CoM trajectory, given by the preview controller, into leg actions. Walk direction can be changed quickly to suit a dynamic environment by adjusting the future step pattern (Strom, 2010). Due to the development of robots throughout the world, a series of methods of controlling over the humanoid robots were developed lately. We could mention the researcher Yongwoo who presents an application (Yongwoo, 2011) of humanoid robot navigation control between remote places via wireless internet communication, using sEMG signals. In order to localize and navigate the NAO robots, Fojt (2012) has used in his paperwork a fusion of odometry and visual s ensor data. The controlling over such robots was conceived and developed also at a team level, and such approaches can be found in writings like those of Joao (2010) or Olivier (2008). In his paper, Yuan (2010) presents an approach of controlling a humanoid NAO robot in order to fulfil the task of kicking the ball. An implementation of an omnidirectional ZMP-based walk engine for the NAO robot could be read in the paper of Johannes (Johannes, 2009). 1.2 Purpose of the article In order to control the humanoid NAO robots, those who initially developed the robots have implemented an application called Coregraphe, a simple and user friendly one. But the disadvantage of it consists in its limits towards a local usage, while the robots could be wireless commended as long as the connexion between the computer where the application runs and the robot does not collapse. Given all these reasons, we wanted to develop a new application via Internet which will permit controlling over the NAO robots from anywhere in the world as long as that place holds a valid internet connexion. This application has the following objectives: 1690

Ninett, A., P., Valentin, E., B., Razvan, B. & Gheorghe, M. Controlling Humanoid NAO Robots Using a Web Interface, AWERProcedia Information Technology & Computer Science. [Online]. 2013, 3, pp 1689-1683. Available from: http://www.world-educationcenter.org/index.php/P-ITCS

Controlling the NAO robots at a distance, in real time. Using open-source applications for its development according to present and future needs, at any time, without any financial constraints. Using an user friendly interface for the robots control application. Raising the chances for future online labs by using such NAO robots (that very few research centres have).

The main advantage of this application is based on the following 3 subitems: The users have full permanent access: from home, from labs, from other cities/ countries or anywhere else. The application is compatible with all types of computers, laptops and mobile phones. The application is compatible with all operating systems.

2. The Applications Architecture Following the example of the Coregraphe application and analysing the current needs, we considered that using a web interface for controlling the NAO robots would be more useful and easy to utilize The architecture of the developed application (Figure 1) consists of the following blocks: the human operators, the access block: laptop, computer or mobile phone, the team of NAO robots that needs to be commanded, a server that sends the commands to the robots through a router (wireless commands) by using a data base containing all the tasks that can be executed by them. The developed application runs on a server, reason why it may be accessed from anywhere in the world by any user who has a password and a valid internet connection, using any kind of gadgets or operating systems.

Figure 1. Architecture of the system

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Ninett, A., P., Valentin, E., B., Razvan, B. & Gheorghe, M. Controlling Humanoid NAO Robots Using a Web Interface, AWERProcedia Information Technology & Computer Science. [Online]. 2013, 3, pp 1689-1683. Available from: http://www.world-educationcenter.org/index.php/P-ITCS

3. Results In order to develop the web interface in the Figure 2, scores of HTML developed pages needed to be created. Besides these HTML pages, the Web Server also reads on the hard-disk some other pages/ scripts, such as the JavaScript and CSS files which are being used by the developer of the application for pre-processing and data validations, and for presenting in a most accessible and pleasant way the data offered by the web application. The interrogation of the data base containing the tables with all the data about the robots it is facilitated through the Queries SQL which are being used in order to obtain data, or to insert new data, or to update or delete the existing ones. The final result is used in the process of developing the commands which are being sent to the NAO robots for execution. In the main page of the web interface, as seen in the Figure 2, there are several labeled-buttons, as follows: Robots, Characteristics, Operations, Process, Tasks, and Users. Each button redirects to other subpages in which various operations are allowed: adding/ editing/ deleting robots, characteristics, tasks (and so on) to/ in/ from the system. Robots: allows us to insert new robots to be commanded, to edit them and also input the tasks to be executed by them. Characteristics: allows the insertion of robotic characteristic, because some NAO robots may have additional characteristic in comparison to the basic ones. Tasks: allows the insertion/ deleting/ editing of new tasks for the robots.
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Figure 2. Main page of the web interface

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Ninett, A., P., Valentin, E., B., Razvan, B. & Gheorghe, M. Controlling Humanoid NAO Robots Using a Web Interface, AWERProcedia Information Technology & Computer Science. [Online]. 2013, 3, pp 1689-1683. Available from: http://www.world-educationcenter.org/index.php/P-ITCS

4. Conclusion The aim of this paper was to present an on-line method of access and control over the NAO robots in real time, through an easy user friendly web interface. In order to create this page, open source applications had been used HTML, CSS and Java Script so as to allow the developing and improvement of this interface based on each and everyones need of accessibility. The experimental results have shown that the proposed interface allows people to control a humanoid robot in a more natural and easy way. This application may be accessed by any user disposing of a password, from anywhere in the world where there is an internet connection, no matter the gadget being used or the operating system. In the future, this method might be used to develop a commanding on-line laboratory for humanoid NAO robots, for the benefit and usage of the students working within specific faculties. Acknowledgements This paper is supported by the Sectoral Operational Programme Human Resources Development (SOP HRD), financed from the European Social Fund and by the Romanian Government under the contract number POSDRU/107/1.5/S/76945 This paper is also supported by the Sectoral Operational Programme Human Resources Development (SOP HRD), financed from the European Social Fund and by the Romanian Government under the contract number POSDRU/ 89/ 1.5/ S/ 59323. References
Fojt, S., Michal, H., & Tom, P. (2012). Nao robot localization and navigation using fusion of odometry and visual sensor data .intelligent robotics and applications. Lecture Notes in Computer Science, 7507/2012, 427438. Joao, S., Nuno, L., Joao, R., Jos Lus, A., & Antnio, J. (2010) Sensor and information fusion applied to a robotic soccer team. ROBOCUP 2009: ROBOT SOCCER WORLD CUP XIII. Lecture Notes in Computer Science, 5949/2010, 366-377. Johannes, S., & Bowdoin, C. (2009). Omnidirectional walking using ZMP and preview control for the NAO humanoid robot. RoboCup 2009 (pp. 378-389). Springer-Verlag Berlin. Olivier, M., Yvan, B., & Jean-Christophe, B. (2008). RobotStadium: Online humanoid robot soccer simulation competition. ROBOCUP 2008: ROBOT SOCCER WORLD CUP XII. Lecture Notes in Computer Science, 5399/2009, 580-590. Strom, J. (2010). Omnidirectional walking using ZMP and preview control for the NAO humanoid robot. RoboCup. Springer-Verlag Berlin, Heidelberg. Xu, Y., & Mellmann, H. (2010). Adaptive motion control: Dynamic kick for a humanoid robot. KI 2010: Advances in Artificial Intelligence. Lecture Notes in Computer Science, 6359/2010, 392-399. Yazdi, E. (2011). Biped locomotion with arm swing, based on truncated Fourier series and Bees Algorithm Optimizer. Intelligent automation and systems engineering. Lecture notes in electrical engineering, 103, 1526. Yongwook, C., Changmok, C., Jung, K., & Sungho, J. (2011). Noninvasive sEMG-based control for humanoid robot teleoperated navigation. Internationall Journal of Precision Engineering And Manufacturing, 12 (6), 11051110.

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