System architecture for an interactive patrolling humanoid robot

摘要

In the future, autonomous robots are expected to operate in human environments. Therefore, the capability of these robots to recognize and interact with humans is important to be developed. This paper presents an overview of our work on autonomous patrolling humanoid robot. As an autonomous patrolling robot requires both navigation and cognition capabilities, novel hardware and software architecture are required. In this paper, multiple perception sensors and modular subsystem with different functions are developed. The modularity of the subsystems serves to complement each other, enabling the humanoid robot to complete the patrolling task.