Task guided attention control and visual verification in tea serving by the daily assistive humanoid HRP2JSK

Abstract

This paper describes daily assistive task experiments that conducting on the HRP2JSK humanoid robot. We present overall action and recognition integrated system design to realize daily assistive behaviors autonomously and robustly, along with the demonstration that the HRP2JSK pours tea from a bottle to a cup and wash it after human drink it. To obtain autonomy and robustness, visual recognition and behavior control through perception information are important.