Vision based behavior verification system of humanoid robot for daily environment tasks

This paper describes integrated/intelligent humanoid robot system for daily-life environment tasks. We have realized complex behaviors of a humanoid robot in daily-life environment based on motion planner technique using an environment and manipulation knowledge. However in order to adapt to unknown or dynamic situations, sensor based behavior variation is essentially important. In this paper, we present a design and implementation of sensor based behavior verification system using an environment and manipulation knowledge, which is also used in manipulation motion planner. We also present software architecture that allows us to write a single stream code to perform complex concurrent humanoid motions. By using this architecture, sensor based verification functions are easily integrated in motion generation functions. Finally, we demonstrated a water-pouring task and a dishwashing task of the life-sized humanoid robot HRP2-JSK in a real environment while verifying its own motion