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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...
Methods for a daily assistive humanoid robot to manipulate and recognize the objects incorporating joints and learn the manipulation knowledge are presented. It is necessary for humanoid robots to use the objects incorporating joints such as some furniture and tools to provide daily assistance. We have been tried to make an integrated humanoid robots recognition and manipulation system of the objects...
In this research, the mapping and navigation system in a wide space in a building for mobile robots which have laser range finders and stereo cameras was achieved. The map was described as a combination of topological corridor maps and metric room maps. The topological corridor maps have nodes which represent entrances of each room, and the grid-based room maps have accurate information about positions...
This paper presents a new robust realtime manipulation planning system for robot to manipulate movable objects under interactive dynamics simulator. Previous manipulation planning system was not robust under environment which dynamically changes. To solve this problem, we propose an integrated manipulation planning system composed of symbolic task planner, geometric motion planner and interactive...
This paper proposes the new robot programming environment in which robot motion programming environment and dynamics simulator are integrated. This allows robot motion programs to include simulation descriptions. Additionally, a new implementation of simulation that is composed by simulation modules is presented, on the other hand, conventional simulators are monolithic and implanted every function...
In order to realize humanoid robots that support people in their daily lives, on-site humanoid behavior navigation system which a robot behaviors autonomously as well as a robot reacts to the intentions of a human. This paper proposes new on-site navigation interface method for humanoid robots which a human navigate a humanoid robot hand-in-hand. Previous humanoid researches aim to realize an autonomous...
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