Study on cooperation between humanoid robot Nao and Barrett WAM

In this paper, we study on the cooperation between Nao and WAM, and give a system to do some home-service tasks. Nao works as an intermediary to interact with the user and recognize the intention of the user. Then it sends the corresponding commands to WAM. WAM works as an actuator to receive the commands and carry out the corresponding tasks. This system can be used to provide service for the elderly persons or persons with physical disabilities. To communicate with Nao, three mediums, such as speech, color and touch are used as commands. Experiments are carried out to analyze the reliability of them.