DocumentCode
3093000
Title
Task guided attention control and visual verification in tea serving by the daily assistive humanoid HRP2JSK
Author
Okada, Kei ; Kojima, Mitsuharu ; Tokutsu, Satoru ; Mori, Yuto ; Maki, Toshiaki ; Inaba, Masayuki
Author_Institution
Grad. Sch. of Inf. Sci. & Technol., Univ. of Tokyo, Tokyo
fYear
2008
fDate
22-26 Sept. 2008
Firstpage
1551
Lastpage
1557
Abstract
This paper describes daily assistive task experiments that conducting on the HRP2JSK humanoid robot. We present overall action and recognition integrated system design to realize daily assistive behaviors autonomously and robustly, along with the demonstration that the HRP2JSK pours tea from a bottle to a cup and wash it after human drink it. To obtain autonomy and robustness, visual recognition and behavior control through perception information are important.
Keywords
humanoid robots; path planning; predictive control; robot vision; service robots; behavior control; daily assistive HRP2JSK humanoid robot; knowledge based humanoid robot system; motion planned; prediction based attention control; task guided attention control; tea serving; visual recognition; visual verification; Histograms; Image color analysis; Legged locomotion; Radiation detectors; Robots; Three dimensional displays; Visualization;
fLanguage
English
Publisher
ieee
Conference_Titel
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location
Nice
Print_ISBN
978-1-4244-2057-5
Type
conf
DOI
10.1109/IROS.2008.4650876
Filename
4650876
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