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
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;
Conference_Titel :
Intelligent Robots and Systems, 2008. IROS 2008. IEEE/RSJ International Conference on
Conference_Location :
Nice
Print_ISBN :
978-1-4244-2057-5
DOI :
10.1109/IROS.2008.4650876
