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.