“Give me the purple ball” - he said to HRP-2 N.14

This paper reports current experiments conducted on HRP-2 based research on robot autonomy. The contribution of the paper is not focused on a specific area but its objective is to highlight the critical issues that had to be solved to allow the humanoid robot HRP-2 to understand and execute the order ldquogive me the purple ballrdquo in an autonomous way. Such an experiment requires: simple object recognition and localization, motion planning and control, natural spoken language supervision, simple action supervisor and control architecture.