PROJECT SUPERVISOR

STUDENTS
N.R.GOKULA NARAYANAN Dr.T.TAMILARASI
(20MTR019) ME,Ph.D.
T.KALAIARASU Assistant Professor
(20MTR030) (SRG)
M.KIRUBAKARAN
(20MTL110)
IV/VIII
Mechatronics Engineering
Kongu Engineering College
Mechatronics Engineering
Perundurai – 638 060
Kongu Engineering College
Perundurai – 638 060
 INTRODUCTIO
• N robot designed to interact with people. It's packed
NAO is a humanoid
with sensors and it can walk, dance, speak, and recognize faces and
objects.
• Now it is in sixth generation, it is used in research, education, and
healthcare all over the world.
• It has a total of 25 degrees of freedom.
• NAO supports C++, Python, Java, MATLAB, Urbi, C, .Net
programming languages.

22-Mar-
24
 APPLICATIO
N
NAO is used for various applications like
• Human voice recognition
• Face recognition
• Help desk
• Teaching purposes
• Assissting autism affected children,etc

22-Mar-
24
 MOTIVATION OF THE
PROJECT
• Manual serving of food in hotels need more man power.
• Continues work may lead to fatigue to the workers.
• There may be possibility of putting some impurities by the labour.
• This methodololgy overcomes all these defects.
• Robots can serve foods faster,neater and with good efficiency.

22-Mar-
24
 LITERATURE
S.
No.
Journal
Details REVIEW
Title Authors Observation

1 International Serving Robot New Neeti Malik,Neetu This paper involves the
Journal for Generation Rani,Alpana incorporation of line following
Innovative Electronic Waiter Singh,Pratibha bot techniquefor the delivery of
Research in Science the food to the customers.
& Technology.Vol2
Issue 11

2 Proceedings of the AI-Based Smart Muhammad Awais This paper involves the food
2021 IEEE Robot for Restaurant Qasim, Faisal Abrar, serving robot associated with
International Serving Applications Sarosh Ahmad & the AI camera for identifying
Conference on Muhammad Usman the position of the customer to
Robotics and deliver food.
Automation.
3 Department of Autonomous Waiter Yuga Yano, Kosei This paper also invloves the
Cybernetics and Robot System for Isomoto, Tomohiro robot with AI camera.In
Artificial Recognizing Ono & Hakaru addition the robot itself take the
Intelligence, Customers, Taking Tamukoh orders and deliver the food
Technical Orders, and Serving accordingly.
University of Food
Košice

22-Mar-
24
 S.
Journal Title Authors Observation
No.
Details
4 Proceedings of Development and Tetsuo Ono, This topic covers the design,
the IEEE Evaluation of Michita Imai development, and evaluation of
92(11):1839 - Interactive humanoid robots with a focus on
1850 Humanoid Robots their interactive capabilities,
DOI:10.1109/JP usability, and overall performance.
ROC.2004.83535
9

5 6th European Multi-person Yosuke Matsusaka, This involves designing robots

Conference on Conversation Tsuyoshi Tojo, capable of engaging in
Speech Robot Using Sentaro Kubota conversations with multiple people
Communication Multimodal simultaneously using various
and Technology , Interface communication modalities such as
Hungary, speech, gestures, and facial
September 5-9, expressions.
1999

6 Second Smart restaurant R. Sai Manikanta This paper involves the robot
international multi-purpose Naidu; S. Srinivasa using Light Detection And
virtual serving robot Rao Ranging(LIDAR) Technique for
conference on identifying the tables to deliver the
intelligent food.
robotics,
mechatronics and
automation
systems
(irmas2022)
22-Mar-
24
 S.
Journal Title Authors Observation
No.
Details
7 13th CIRP Service robot Takeshi This paper involves the use of
Conference on introduction to a Shimmura,Ryosuke Automated Guided Vehicle(AGV)
Intelligent restaurant enhances Ichikari,Takashi for serving food.The locations of
Computation both Okuma the table is programmed to make the
in labor productivity robot to move to the table.
Manufacturing and service quality
Engineering, CIRP
ICME '19

8 8th International Initial Response of Shamsuddin, This topic focuses on the use of
Colloquium on Autistic Children in Syamimi humanoid robot NAO in therapy for
Signal Processing Human-Robot autistic children and analyzes the
and its Interaction Therapy initial responses of these children
Applications. with Humanoid during the interaction.
IEEE, 2012. Robot NAO

22-Mar-
24
 SUMMARY OF
LITERATURE
• Most of the literature which proposed than existing robot uses Light
Detection and Ranging (LIDAR) and AI camera technology to avoid
obstacles and navigate a dining room.
• It uses internal weight sensors to automatically return to its post when
dishes have been removed.
• It uses a range of advanced navigation solutions to help it move
around restaurants more easily
• In this methodology choregraphe tool is used to operate the robot.It
has variety of options in it.so there will be no difficulties compared to
other food serving robots.

22-Mar-
24
 OBJECTIV
E module for NAO V6 robot using choregraphe
To develop a food serving
tool for enhancing easy,neat and fast food serving.

22-Mar-
24
 METHODOLOGY

22-Mar-
24
 FACILITIES
SI.
No
AVAILABLE
NAO Specifications

1 Make NAO V6 Robot

2 Model Humanoid Robot

3 Weight 5.48 Killograms (12.1

lb)
Lithium battery
4 Power
providing 62.5 Wh at
Supply
21.6V
5 Autonomy 90 minutes (active use)

6 Degrees of 25
freedom
Programming C++, Python, Java,
7
language MATLAB, Urbi, C, .Net
Sensors 3-axis accelerometer
8 Capacitive sensor
Connectivity
Compatible Windows, Mac OS,
9
22- ar-24 OS Linux
M
 SOFTWARE TOOL
USING
CHOREGRAPHE

22-Mar-
24
 TABLE LAYOUT

22-Mar-
24
 LIST OF BOXES USED

This box is used to recognise the words said by the user.It gets
the speech of the user as input and gives string as output.

22-Mar-
24
 LIST OF BOXES USED

This switch case box is used to give the robot to do some work
according to the cases.This box gets string as input.

22-Mar-
24
 LIST OF BOXES USED

This box is used to make the robot to move to the exact

location.This move to box gets coordinate points as input.

22-Mar-
24
 MAPPING ALGORITHM

22-Mar-
24
 METHOD OF PROPOSED PROJECT
WORK USING
COREOGRAPHE

22-Mar-
24
 METHOD OF PROPOSED
PROJECT WORK USING
COREGRAPHE

22-Mar-
24
 SIMULATION OF FOOD
SERVING USING
COREGRAPHE IN NAO

22-Mar-
24
 SIMULATION OF FOOD
SERVING USING
COREGRAPHE IN NAO

22-Mar-
24
22-Mar-
24
 RESULTS AND DISCUSSIONS
SUCCESS RATE OF MOTION OF NAO ROBOT

Attempt
4

Attempt
3

Attempt
2

Attempt
1

0 20 40 60 80 10 12
0 0
Accuracy
%

22-Mar-
24
 SUCCESS RATE OF MOTION OF NAO ROBOT WITH
WEIGHT

20
0

15
0

10
0

50

0 10 20 30 40 50 60 70 80 90 10
0
Accuracy
%

22-Mar-
24
 CONCLUSIO
N
• By using choregraphe tool to make the nao robot to deliver the food made the
food serving technique more easier compared to other robots.
• In conclusion,the food serving module is made without any complex solutions like
artificial intelligence camera and advanced navigation systems.
• The food is delivered by the NAO robot very quickly,neatly and with high
efficiency by this methodology.

22-Mar-
24
 FUTURE SCOPE

• Equipping the robot with robotic arm attachments could expand its capabilities
beyond food delivery to include tasks such as plate cleaning, table cleaning,
or even food preparation under controlled conditions.
• Developing companion mobile apps that allow customers to place orders, track
their delivery status, and provide feedback on their dining experience
could further enhance convenience and customer engagement.
• Developing more advanced voice recognition and natural language
processing capabilities could enhance the robot's ability to understand and
respond to user commands

22-Mar-
24
 REFERENC
ES
1T. Kanda, H. Ishiguro, T. Ono, M. Imai, and R. Nakatsu, “Development
and evaluation of an interactive humanoid robot Robovie,” in Proc. IEEE Int.
Conf. Robotics and Automation, 2002, pp. 1848–1855.
2] Hertzberg, J.; Zhang, J.; Zhang, L.; Rockel, S.; Neumann, B.; Lehmann,
J.; Dubba, K.S.; Cohn, A.G.; Saffiotti, A.; Pecora,F.; et al. The RACE project.
KI Künstliche Intell. 2014, 28, 297-304.
3K. Wada, T. Shibata, T. Saito, and K. Tanie, “Analysis of factors that bring mental
effects to elderly people in robot assisted activity,” in Proc. IEEE/RSJ Int. Conf.
Intelligent Robots and Systems, vol. 2, 2002, pp. 1152–1157.
4Personal robot PaPeRo. NEC Co. [Online]. Available:
http://www. incx.nec.co.jp/robot/PaPeRo/english/p_index.html
5T. Ono, M. Imai, and H. Ishiguro, “A model of embodied communications
with gestures between humans and robots,” in Proc. 23rd Annu. Meeting Cognitive
Science Soc., 2001, pp. 732–737.
6 C. Breazeal and B. Scassellati, “A context-dependent attention system for a social
robot,” in Proc. Int. Joint Conf. Artificial Intelligence, 1999, pp. 1146–1151.
7Y. Matsusaka et al., “Multi-person conversation robot using multimodal
interface,” in Proc. World Multiconf. Systems, Cybernetics and Informatics, vol. 7,
1999, pp. 450–455.
8K. Nakadai, K. Hidai, H. Mizoguchi, H. G. Okuno, and H. Kitano, “Real-
time auditory and visual multiple-object tracking for robots,” in Proc. Int. Joint
Conf.
22-Mar-
A24 rtificial Intelligence, 2001, pp. 1425–1432.
 [9] H. Ishiguro, T. Ono, M. Imai, and T. Kanda, “Development of an interactive
humanoid robot “Robovie”—An interdisciplinary approach,” in Robotics Research,
R. A. Jarvis and A. Zelinsky, Eds. New York: Springer-Verlag, 2003, pp. 179–191.
10T. Kanda, H. Ishiguro, T. Ono, M. Imai, and R. Nakatsu, “Development
and evaluation of an interactive humanoid robot Robovie,” in Proc. IEEE Int.
Conf. Robotics and Automation, 2002, pp. 1848–1855.
11Hertzberg, J.; Zhang, J.; Zhang, L.; Rockel, S.; Neumann, B.; Lehmann,
J.; Dubba, K.S.; Cohn, A.G.; Saffiotti, A.; Pecora,F.; et al. The RACE project.
KI Künstliche Intell. 2014, 28, 297-304.
12Hernandez-Vicen, J.; Martinez, S.; Garcia-Haro, J.M.;Balaguer, C. Correction
of Visual Perception Based on Neuro-Fuzzy Learning for the Humanoid Robot
TEO. Sensors 2018, 18, 972.
13Moley Robotics. MK1- TheWorld's First Robotic Kitchen. 2015. (accessed
on 10 December 2020).
14 Puerto, K. Un Equipo de Robots Camarero del MIT Sirve la Cerveza de Forma
Eficiente. Xataka. 2015
15Oña, E.D.; Garcia-Haro, J.M.; Jardón, A.; Balaguer,
C. Robotics in health care: Perspectives of robot-aided
interventions in clinical practice for rehabilitation of upper
limbs. Appl. Sci. 2019, 9, 2586
22-Mar-
24
 16V. N. Thanh, D. P. Vinh, N. T. Nghi, L. H. Nam and D. L. H.Toan,
"Restaurant Serving Robot with Double Line Sensors Following Approach," 2019
IEEE International Conferenceon Mechatronics and Automation (ICMA), Tianjin,
China, 2019, pp. 235-239, doi: 10.1109/ICMA.2019.8816404.
17Yogalakshmi.C.N and V. Maik, "Autonomous Serving System in
Restaurants Using RFID and Weight Sensor," 2019 2nd International Conference
of Intelligent Robotic and Control Engineering (IRCE), Singapore, Singapore,
2019, pp.
156-159, doi: 10.1109/IRCE.2019.00038.
18Myoken, Yumiko. 'Japan’S Service Robotics
Development'. Science & Innovation Section, British Embassy
Tokyo, 2011.

22-Mar-
24
22-Mar-
24