Joint Research on Technology for Advanced Service Robot

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This work of the year was the final activity of the three year research collaboration on an advanced autonomous service robot to serve aged and disabled persons in daily life between us in Japan and a robotic group at the Vanderbilt university of USA.The goal was to make a breakthrough in the field of a service robot by developing new concepts and technologies, and to demonstrate new robotic functions to the society. The goal has been achieved successfully at a laboratory level. The Japan group has developed ahumanoid service robot HARIS, which consists of an electronic human-like arm and a knowledge-based software system. The human-like robot consists of a multi-joint arm with 8 d.o.f. and a five-finger hand with 18 d.o.f.. The hand unit with 178 tactile sensors is controlled by an embedded micro-processor for handling 3D objects by itself. The knowledge-based software system includes a model-based 3D vision, an intelligent task/motion scheduler, a natural language interface and a robot controller. The frme-based knowledge engineering environment ZERO++ was developed to integrate these subsystems. The US group has developed a dual-arm service robot ISAC.The ISAC robot consists of an air-controlled dual arm, a 3D vision, a visual servoing system, a face tracker, a human interface, and so on. The agent-based platform IMA was developed to integrate the system. It should be noted that the integration of the knowledge-based approach of Japan group and the sensor-based approach of US group has resulted in high flexibility. The main products have been published through journals and conference proceedings.