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Multimodal
Collaborative Robot "iSHA"
Project Description
Project year: 2000-
Principle Investigator: Kenji
Suzuki (2000-),Tomonori Shindo
(-2000)
Collaborator: Riku
Hikiji (2001)
Research Advisor: Shuji
Hashimoto |
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This research project was done
in Waseda University.
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"iSHA" was born in 1999 at Hashimoto
Laboratory of Humanoid
Robotics Institute. We aim to develop
this humanoid robot platform so as to communicate
with humans comfortably, friendly and intuitively,
integrating many compornents that have been developed
in our Laboratory up to today such as image and
speech processing, vision system, sensing interfaces
and KANSEI analysis and synthesis.
We aim to build a harmonized environment, where
people and machines can "live" together
and interact with each other. The "harmonization"
is defined as the naturalness and intuitiveness
of communication. The machine is required to make
its own decision according to the precise selection
of communication channels. In this kind of communication,
multi-modality is one of the key issues. It provides
natural, seamless and intuitive communication
between humans and machines. We thus focused on
a robot that is a machine with mobility and high
redundancy. It allows humans to interact with
it in various ways. The machine also should be
able to achieve a given task in various ways.
Based on the above considerations, we have been
developing a humanoid robot platform, which integrates
a number of agents such as image and speech processing,
and a haptic interface. We also propose a robotic
archi-tecture by taking a physically grounded
approach into consideration. The architecture
allows various types of behavior executed in parallel.
The characteristics of the robotic design are
1) autonomous and self-subsistent ability 2) system
plug-in and behavior plug-in architec-ture, and
3) human-like modalities.
See also the official
homepage of our humanoid robot "iSHA".
Publications
[1] |
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Suzuki, K. and Hashimoto, S.,
"A Multi-Layered Hierarchical Architecture
for a Humanoid Robot," Proc. of
Knowledge-Based Intelligent Information
and Engineering Systems, Lecture Notes in
Artificial Intelligence 2774, pp. XX-XX,
Springer-Verlag (2003) |
[2] |
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Suzuki, K., Hikiji, R. and Hashimoto,
S., Development of an Autonomous Humanoid
Robot, iSHA, for Harmonized Human-Machine
Environment, Journal of Robotics and
Mechatronics, Vol.14, No.5, 2002, pp.
324-332, 2002 |
[3] |
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Suzuki, K., Hasimoto, S., "Harmonized
Human Machine Environment for Humanoid Robot",
Proc. of the 2001 IEEE-RAS International
Conference on Humanoid Robots (Humanoids2001),
Japan (November 2001) |
Publications
Publication
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