Sketch drawing by NAO humanoid robot

This paper demonstrates the sketch drawing capability of NAO humanoid robot. Two redundant degrees of freedom elbow yaw (RElbowYaw) and wrist yaw (RWristYaw) of the right hand have been sacrificed because of their less contribution in drawing. The Denavit-Hartenberg (DH) parameters of the system has been defined in order to measure the working envelop of the right hand as well as to achieve the inverse kinematic solution. A linear transformation has been used to transform the image points with respect to real world coordinate system and novel 4 point calibration technique has been proposed to calibrate the real world coordinate system with respect to NAO end effector.