Network-based humanoid operation in home environment

This paper describes the development process of the network-based humanoid to provide services in home environment. To provide successful service, various sub-systems of the robot need to be coordinated effectively. So the paper introduces a coordinated framework which makes it possible to interact with humans while executing various tasks by various robots. Using a task script, operator can easily describe tasks and it regulates actions of the sub-systems while the robot is performing the task. Many strategies and algorithms are developed and some of technologies are described: autonomous biped walking and real-time modification of collision-free path, interaction ability with humans and environments such as a face, a voice or object recognition, and manipulation in contact environments. We also talk about emergency situations and safety issues. The results of our demonstration show plural humanoids can execute the task efficiently and be suitable for providing services in human environments, such as a restaurant or a home.