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Nao’s default position, originally uploaded by northern_bites.

For the past month and a half we’ve been playing around with the Webots simulation of the new Standard Platform robot, the Aldebaran Nao. We’ve scripted a standup routine, gotten python behaviors running, and started working really hard on developing a walk engine.

So far, we’ve been working on a robust implementation of inverse kinematics, which means asking an arm or leg to go to a point in x,y,z space, and then getting the IK system to spit out the joint angles necessary to get there. This is hard, because for any given destination, there can be many combinations of joint angles to get there.

Above is a screen shot of the new simulator, and the nao prototype model.