Task-Oriented Architecture for a Humanoid Robot

Abstract:

A humanoid robot is developed to perform various kinds of tasks in human daily environments. In this paper, three advanced capabilities which are indispensable for a humanoid robot to perform tasks, namely, natural human-humanoid robot interaction based on spoken dialogue and vision, vision-based navigation in complex and dynamic environments, object grasp and manipulation with hand-eye coordination, are discussed firstly. Then, a biologically-inspired system structure for a humanoid robot is presented. Based on this system structure, a task-oriented layered architecture for a humanoid robot is proposed, and the architectures of the three advanced capabilities are presented, respectively.

• Periodical: Applied Mechanics and Materials (Volumes 40-41)
• Pages: 228-234
• DOI: https://doi.org/10.4028/www.scientific.net/AMM.40-41.228
• Online since: November 2010
• Authors: Yan Hua Mu
• Keywords: Architecture Design, Human-Computer Interaction (HCI), Humanoid Robot, Navigation, Object Manipulation

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