Low-level Autonomy of the Humanoid Robots H6 & H7

Abstract

This paper describes our research efforts aimed at developing several low-level autonomous capabilities required for remote-operation tasks involving humanoid-type robots. The low-level autonomy considered falls into three categories: 1) walking functions, such as online dynamic balance compensation and online walking trajectory generation, 2) manipulation functions such as arm motion planning and 3D vision based interactive planning, and 3) human interaction functions such as human identification and tracking, face recognition, and voice recognition/speech synthesis. We describe experimental results implemented on the humanoid robot research platforms H6 and H7.