Study on Cohabitant Robot

在这个项目的最后一年，除了独立的研究之外，我们还将一些研究成果结合到集成系统中。主要研究成果如下：1.软件研究开发了一种适用于在人类居住环境中移动的移动的机器人的环境识别方法和任意场景下的人脸提取方法。在真实的环境中进行了大量的实验来验证这些方法。用于声聚焦和声分离的麦克风阵列系统的研制。大量的实验证实了这些方法的有效性。基于人的评价导向训练机制的机器人控制开发。我们使用仿人机器人进行了大量的实验，以证实所提出的方法的有效性。2.机械研究开发的物理机器人头部，能够显示自然的姿态和情感表达。我们的实验表明，帽子机器人是能够直观地与人类进行交流。开发的双足机器人，基于并联连杆机构，能够在日常生活环境中运输人类。在非规则环境下的实验验证了系统的有效性;开发了具有集成视觉机构的机器人手臂系统，使系统能够灵活地适应人类的生活环境;在人类日常生活环境和日常核心中的实验验证了系统的有效性。2.集成系统仿人型双足机器人WABIAN-2的开发，机器人iSHA的开发作为各种人机接口研究的平台。多模态通信机器人ROBISUKE的开发集成了音频和视频处理系统，实现多模态交互。

In the final year of this project, aside from the independent studies we also combined some of the research results into integrated systems. The major research results are shown as follows.1.Software ResearchDevelopment of en environment recognition method and a face extraction method from arbitrary scene that could be mounted on mobile robots moving in human-living environment. A number of experiments in real world environment were executed to verify the methods.Development of microphone array system for sound focusing and sound separation. A number of experiments were done to confirm the effectiveness of the methods.Development of robot control based on the human-evaluation oriented training mechanism. We executed a number of experiments using humanoid robots to confirm the effectiveness of the proposed method.2.Mechanical ResearchDevelopment of physical robot head that is able to show natural gesture and emotional expression. Our experiments show hat the robot is able to intuitively communicate with human.Development of bipedal robot, based on the parallel link mechanism that is able to transport human in daily life environment. The experiments on unregulated environment verify the effectiveness of the system.Development of robot arms system with integrated visual mechanism tot enable the system to make a flexible adaptation into human living environment The experiments in human daily living environment and daily cores show the effectiveness of the system.2.Integrated SystemDevelopment of humanoid type bipedal robot WABIAN-2, which is able to generate actions that are similar to that of humans.Development of robot iSHA to be used as a plat form of various human-machine interface studies.Development of multimodal communication robot ROBISUKE that integrate audio and visual processing system to realize multimodal interaction.