This paper focuses on the interaction and cooperation between two humanoid robots. In this research, Python language and NAO robot as hardware were used and based on Choregraphe, Webots and other simulation platforms, and through three experiments realize the interactions between two humanoid robots and the cooperation methods. This research used NAO's vision system, and then proposed the method of monocular-visional distance measurement to enable it determining the distance between the object and the target in the real time. The NAO arm is built by the module mainly using the DH method to formulate its forward kinematics and inverse kinematics formulas. This research also used the cloud platform protocols and models for cooperation communications, meanwhile used SOCK_DGRAM with UDP and WAMP (Apache + Mysql /MariaDB + Perl/PHP/Python) for their synchronization control and other aspects of their interactive use. Finally, we elaborated the experimental design procedure and demonstrated the simulation results and the effect of the real experiments.

本文着重于两个类人机器人之间的交互与合作。本研究以Python语言和NAO机器人为硬件，并基于Choregraphe，Webots等仿真平台，通过三个实验，实现了两个类人机器人之间的交互作用以及协作方法。这项研究使用了NAO的视觉系统，然后提出了单眼视觉距离测量方法，以使其能够实时确定物体与目标之间的距离。由模块构建NAO臂，主要使用DH方法来制定其正向运动学和逆向运动学公式。这项研究还使用了云平台协议和模型进行协作通信，同时将SOCK_DGRAM与UDP和WAMP（Apache + Mysql / MariaDB + Perl / PHP / Python）一起用于同步控制和其他交互使用方面。最后，我们详细阐述了实验设计过程，并演示了仿真结果和实际实验的效果。