Reaching and Grasping with NAO Robot

In this paper we propose a robust approach that combines classical computer vision with a smart setup that enables a NAO humanoid robot to play with children. Blocks are adopted as playing objects as they are widely used and are a highly versatile support. This approach addresses the challenges of object reaching and grasping, by allowing the robot to approach the table over which activity is carried out, orient appropriately, plan the reaching movement that is executed partly through direct and partly through inverse kinematics, grasp the block, moving it over the table and releasing it into its target position. By integrating visual information provided by the robot cameras into a closed-loop control system, no additional sensors are required. This approach enables not only children to play with a Humanoid robot in a richer way, but also to be used to treat cognitive / motor deficits inside what is termed Robot Assisted Therapy.