Abstract — This paper describes integrated/intelligent humanoid robot system for daily-life environment tasks. We have realized complex behaviors of a humanoid robot in dailylife environment based on motion planner technique using an environment and manipulation knowledge. However in order to adapt to unknown or dynamic situations, sensor based behavior variation is essentially important. In this paper, we present a design and implementation of sensor based behavior verification system using an environment and manipulation knowledge, which is also used in manipulation motion planner. We also present software architecture that allows us to write a single stream code to perform complex concurrent humanoid motions. By using this architecture, sensor based verification functions are easily integrated in motion generation functions. Finally, we demonstrated a water-pouring task and a dishwashing task of the life-sized humanoid robot HRP2-JSK in a real environment while verifying its own motion. I.

Abstract — In this paper we present a novel approach to legged humanoid navigation on indoor environments using classical probabilistic SLAM methods based on odometry information and laser measurements. We use two small lasers installed in the robot feet to capture distance data. Odometry is obtained by calculating the position of each laser-foot at every time step. The SLAM problem is solved by using a multi-laser SLAM solution together with a holonomic motion model. Navigation skills also include a path planning module with obstacle avoidance for autonomous navigation in indoor environments. The whole process is performed within the robot itself. Optionally, localization robustness is increased by adding the detection of landmarks using a camera. Results obtained are presented for the 1.5 m tall Reem-B humanoid robot. I.