MULTI-SENSORY SYNERGIES IN HUMANOID ROBOTICS

摘要

Sensing is a key element for any intelligent robotic system. This paper describes the current progress of a project in the Intelligent Robotics Research Center at Monash University that has the aim of developing a synergistic set of sensory systems for a humanoid robot. Currently, sensing modes for colour vision, stereo vision, active range, smell and airflow are being developed in a size and form that is compatible with the humanoid appearance. Essential considerations are sensor calibration and the processing of sensor data to give reliable information about properties of the robot's environment. In order to demonstrate the synergistic use of all of the available sensory modes, a high level supervisory control scheme is being developed for the robot. All time-stamped sensor data together with derived information about the robot's environment are organized in a blackboard system. Control action sequences are then derived from the blackboard data based on a task description. The paper presents details of each of the robot's sensory systems, sensor calibration, and supervisory control. Results are also presented of a demonstration project that involves identifying and selecting mugs containing household chemicals. Proposals for future development of the humanoid robot are also presented.