Target Positioning and Grasping of NAO Robot Based on Monocular Stereo Vision

<table class="table-group" id="tab3"><tr><td><table class="table"><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr class="thead"><td class="align_left">Joint <i>i</i></td><td class="align_center">Joint angle <i>q</i>i</td><td class="align_center">Connecting rod corner a<i>i</i></td><td class="align_center">Connecting rod offset <i>d</i><sub>i</sub> (m)</td><td class="align_center">Link length <i>a</i><sub><i>i</i></sub> (mm)</td><td class="align_center">Joint range l</td></tr><tr><td class="thead-hr" colspan="6"><hr/></td></tr><tr><td class="align_left">1</td><td class="align_center"><i>q</i>1</td><td class="align_center"><span style="width: 29.0287ptpx;"><svg height="11.439pt" id="M24" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 29.0287 11.439" width="29.0287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M703 650H36V622C118 616 126 607 126 526V124C126 45 117 34 40 28V0H297V28C219 34 211 44 211 124V581C211 609 214 613 245 613H494C521 613 527 610 527 583V124C527 45 519 34 434 28V0H700V28C620 34 612 44 612 124V526C612 605 620 616 703 622V650Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.225,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.586,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z"></path></g></svg></span></td><td class="align_center">0.34</td><td class="align_center">0</td><td class="align_center">−170∼+170 F02D</td></tr><tr><td class="align_left">2</td><td class="align_center"><i>q</i>2</td><td class="align_center"><span style="width: 29.0287ptpx;"><svg height="11.439pt" id="M25" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 29.0287 11.439" width="29.0287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M703 650H36V622C118 616 126 607 126 526V124C126 45 117 34 40 28V0H297V28C219 34 211 44 211 124V581C211 609 214 613 245 613H494C521 613 527 610 527 583V124C527 45 519 34 434 28V0H700V28C620 34 612 44 612 124V526C612 605 620 616 703 622V650Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.225,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.586,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z"></path></g></svg></span></td><td class="align_center">0</td><td class="align_center">0</td><td class="align_center">−120∼+120</td></tr><tr><td class="align_left">3</td><td class="align_center"><i>q</i>3</td><td class="align_center"><span style="width: 29.0287ptpx;"><svg height="11.439pt" id="M26" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 29.0287 11.439" width="29.0287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M703 650H36V622C118 616 126 607 126 526V124C126 45 117 34 40 28V0H297V28C219 34 211 44 211 124V581C211 609 214 613 245 613H494C521 613 527 610 527 583V124C527 45 519 34 434 28V0H700V28C620 34 612 44 612 124V526C612 605 620 616 703 622V650Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.225,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.586,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z"></path></g></svg></span></td><td class="align_center">0.4</td><td class="align_center">0</td><td class="align_center">−170∼+170</td></tr><tr><td class="align_left">4</td><td class="align_center"><i>Q</i>4</td><td class="align_center"><span style="width: 29.0287ptpx;"><svg height="11.439pt" id="M27" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 29.0287 11.439" width="29.0287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M703 650H36V622C118 616 126 607 126 526V124C126 45 117 34 40 28V0H297V28C219 34 211 44 211 124V581C211 609 214 613 245 613H494C521 613 527 610 527 583V124C527 45 519 34 434 28V0H700V28C620 34 612 44 612 124V526C612 605 620 616 703 622V650Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.225,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.586,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z"></path></g></svg></span></td><td class="align_center">0</td><td class="align_center">0</td><td class="align_center">−120∼+120</td></tr><tr><td class="align_left">5</td><td class="align_center"><i>Q</i>5</td><td class="align_center"><span style="width: 29.0287ptpx;"><svg height="11.439pt" id="M28" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 29.0287 11.439" width="29.0287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M703 650H36V622C118 616 126 607 126 526V124C126 45 117 34 40 28V0H297V28C219 34 211 44 211 124V581C211 609 214 613 245 613H494C521 613 527 610 527 583V124C527 45 519 34 434 28V0H700V28C620 34 612 44 612 124V526C612 605 620 616 703 622V650Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.225,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.586,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z"></path></g></svg></span></td><td class="align_center">0.4</td><td class="align_center">0</td><td class="align_center">−170∼+170</td></tr><tr><td class="align_left">6</td><td class="align_center"><i>Q</i>6</td><td class="align_center"><span style="width: 29.0287ptpx;"><svg height="11.439pt" id="M29" style="vertical-align:-2.15067pt" version="1.1" viewbox="-0.0498162 -9.28833 29.0287 11.439" width="29.0287pt" xmlns="http://www.w3.org/2000/svg" xmlns:xlink="http://www.w3.org/1999/xlink"><g transform="matrix(.013,0,0,-0.013,0,0)"><path d="M535 230V280H52V230H535Z"></path></g><g transform="matrix(.013,0,0,-0.013,7.631,0)"><path d="M703 650H36V622C118 616 126 607 126 526V124C126 45 117 34 40 28V0H297V28C219 34 211 44 211 124V581C211 609 214 613 245 613H494C521 613 527 610 527 583V124C527 45 519 34 434 28V0H700V28C620 34 612 44 612 124V526C612 605 620 616 703 622V650Z"></path></g><g transform="matrix(.013,0,0,-0.013,17.225,0)"><path d="M368 703H309L44 -163H104L368 703Z"></path></g><g transform="matrix(.013,0,0,-0.013,22.586,0)"><path d="M412 140C382 77 369 73 315 73H129L270 222C362 320 402 379 402 466C402 571 322 635 234 635C177 635 130 609 99 576L42 495L64 475C90 514 133 568 201 568C274 568 318 519 318 435C318 349 255 267 193 193C144 135 87 78 32 23V0H405C417 45 427 89 440 131L412 140Z"></path></g></svg></span></td><td class="align_center">0</td><td class="align_center">0</td><td class="align_center">−120∼+120</td></tr><tr><td class="align_left">7</td><td class="align_center"><i>Q</i>7</td><td class="align_center">0</td><td class="align_center">0.125</td><td class="align_center">0</td><td class="align_center">−175∼+175</td></tr><tr class="table-tr"><td colspan="6"><hr class="tbody-hr"/></td></tr></table></td></tr></table>

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tab3

Table 3

Table 3: Target Positioning and Grasping of NAO Robot Based on Monocular Stereo Vision 