LEKHOK: Text Writing Mechanism for HOAP-2

Abstract:

There are several tasks in which humans require learning such as reading, writing, drawing etc. This paper gives an idea to make HOAP-2 (Humanoid Open Architecture Platform) robot capable of writing text of any particular language. It can also draw special symbol in a specific coordinate frame. For writing any alphabet the robot follows a trajectory defined in terms of intermediate points. Three types of interpolation: Straight, Clockwise and anticlockwise provides exact direction and smoothening to a particular pattern of the alphabet. On the basis of these interpolated results robot usable joint values are generated. The simulator utilises the updated robot joint values for writing the sentence. We have tested our method on Webots (a simulated framework for HOAP-2) in which the robot can write any sentence of English characters correct and precise.

• Periodical: Advanced Materials Research (Volumes 403-408)
• Pages: 4696-4702
• DOI: https://doi.org/10.4028/www.scientific.net/AMR.403-408.4696
• Online since: November 2011
• Authors: Upasna Singh, Om Prakash Pal, Saurabh Khatr, G.C. Nandi
• Keywords: HOAP-2, Humanoid Robot, Text Writing, Webots

References

[1] Sylvain Calinon, Florent Guenter and Aude Billard, Goal-Directed Imitation in a Humanoid Robot, In Proceedings of the International Conference on Robotics and Automation (ICRA), pp.299-304, (2005).

DOI: 10.1109/robot.2005.1570135

[2] S. Calinon, J. Epiney, and A. Billard, A humanoid robot drawinghuman portraits, in Proc. IEEE-RAS Int. Conf. Humanoid Robots, p.161–166, (2005).

DOI: 10.1109/ichr.2005.1573562

[3] Upasna Singh, G. C. Nandi, Mining Temporal Patterns for Humanoid Robot using Pattern Growth Method , 12th International Conference on Rough Sets, Fuzzy Sets, Data Mining &Granular Computing (RSFDGrC 2009), Dec. 16- 20, IIT, Delhi, India (2009).

DOI: 10.1007/978-3-642-10646-0_43

[4] P. Nordin and M. Nordahl, An Evolutionary Architecture for a Humanoid Robot, In Proceeding of Symposium on Artificial Intelligence (CIMAF99), Havana Cuba, (1999).

[5] A. Billard, Robota: Clever toy and educational tool, Robotics & Autonomous Systems, vol. 42, p.259–269, (2003).

DOI: 10.1016/s0921-8890(02)00380-9

[6] M. Fujita, Y. Kuroki, T. Ishida, and T. Doi, A small humanoid robot sdr-4x for entertainment applications, in IEEE/ASME Intl Conference on Advenced Intelligent Mechatronics, (2003).

DOI: 10.1109/aim.2003.1225468

[7] Fujitsu Automation, Humanoid Robot HOAP-2 Specification, http: /jp. fujitsu. com/group/automation/downloads/en/services/humanoidrobot/hoap2/spec. pdf.

[8] http: /www. cyberbotics. com/products/webots.

[9] Boedecker, Humanoid Robot Simulation and Walking Behaviour Development in the Spark Simulator Framework, Artificial Intelligence Research University of Koblenz, April (2005).

[10] M. P. Salisbury, M. T. Wong, J. F. Hughes, and D. H. Salesin, Orientable textures for image-based pen-and-ink illustration, in Proceedings of the conference on Computer graphics and interactive techniques, p.401–406, (1997).

DOI: 10.1145/258734.258890