Humanoid robot painter assisted by a human

In this paper, we describe a NAO H25 humanoid robot painter assisted by a human. The aim of this study is to reproduce the whole painting process by a humanoid robot with a vision system and fingers. The novelty of the study lies in using a human assistant in interaction with the robot and filling regions in the picture. The painting process is performed by the humanoid robot in three phases: obtaining the image of the environment which the objects are in, extracting the objects to paint and painting them in interaction with its assistant. (i.e. Robot says to human:”Could you give me the blue color”). In this paper, the process is simulated within Webots. This study will be used in disabled children´s rehabilitation where children will be asked to assist the robot in painting. There is an on-going study which aims to implement this study on real NAO H25 humanoid robot.