A Behavior Level Operation System for Humanoid Robots

This paper introduces the construction of a behavior level operation system for humanoid robots. One of the future applications for humanoid robots is to serve in environments like homes or offices. These places are partially-unknown environments where some knowledge of the world can be described and stored in the system before hand. A heuristic methodology utilizing an online operation system to actually operate a humanoid robot to act on objects in designing object oriented actions is introduced. Autonomous behaviors are constructed by integrating the designed object oriented actions with 3D visual recognition functions equipped with a library of geometrical object library. A behavior level operation system allowing an operator to monitor and modify the robots behavior online is constructed. The behavior level operation system is implemented on humanoid robot HRP-2 and experiments realizing a drink serving task which includes taking out a can of drink from a fridge are reported