System status evaluation: monitoring the state of agents in a humanoid system

In order for a humanoid robot to be accepted in society and perform as an intelligent human assistant or companion, it must exhibit robust human-humanoid interaction (HHI). Additionally, the humanoid must be able to recognize if it is working properly, and if not, why. We describe our development of a framework for HHI. This framework includes a high-level agent called the Self Agent; part of its role is to maintain information about the status of the humanoid. To accomplish this, we have developed a technique called system status evaluation that the humanoid uses to detect and localize failures. We present the results of the use of SSE on a humanoid system called ISAC