1A1-A06 ヒューマノイドにおけるモダリティ分散を特徴としたタスクシナリオ記述と実世界デモンストレーションへの応用(ヒューマノイド)

概要

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In "Real World Information Systems Project" in "21st Century COE Program", we demonstrated research progress, called "A Living Room Of The Future". This shows an example of situations of humanoids daily life supporting, where HRP-2W, with HRP-2JSK, follows an order from a guest, serve tea, and take away the cup. We use "Reactive Server System", activating behaviors by events thrown by each module, for realization of daily task using functional abilities of grasping a tea cup, moving around the stage, visual recognition of cup location, speech recognition, sound source localization, voice synthesis and so on. In this paper, we will describe summary of implementaion, artifice and problems in deed, and will describe solutions and future prospects.
2007-05-11