The intelligent ASIMO: system overview and integration

Author

Sakagami, Yoshiaki ; Watanabe, Ryujin ; Aoyama, Chiaki ; Matsunaga, Shinichi ; Higaki, Nobuo ; FujiMura, Kikuo

Author_Institution

Honda R&D Co.Ltd., Saitama, Japan

Volume

3

fYear

2002

fDate

2002

Firstpage

2478

Abstract

We present the system overview and integration of the ASIMO autonomous robot that can function successfully in indoor environments. The first model of ASIMO is already being leased to companies for receptionist work. In this paper, we describe the new capabilities that we have added to ASIMO. We explain the structure of the robot system for intelligence, integrated subsystems on its body, and their new functions. We describe the behavior-based planning architecture on ASIMO and its vision and auditory system. We describe its gesture recognition system, human interaction and task performance. We also discuss the external online database system that can be accessed using internet to retrieve desired information, the management system for receptionist work, and various function demonstrations.

Keywords

gesture recognition; legged locomotion; robot vision; ASIMO; auditory system; autonomous robot; behavior-based planning; gesture recognition; human interaction; humanoid robots; online database; receptionist; sensory system; task performance; vision; Auditory system; Database systems; Humans; Indoor environments; Information retrieval; Intelligent robots; Intelligent structures; Intelligent systems; Internet; Machine vision;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2002. IEEE/RSJ International Conference on

Print_ISBN

0-7803-7398-7

Type

conf

DOI

10.1109/IRDS.2002.1041641

Filename

1041641