Observation Motion Planning for Detecting an Object by a Humanoid Robot

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  • ヒューマノイドロボットによる物体探索のための認識行動の計画

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<p>In this research, we propose a method for observation/action planning for detecting an object by a humanoid robot. We first generate a candidate of observation postures of an object to possibly find an object. The observation posture is determined by introducing the Partially Observable Markov Decision Process (POMDP). To move to the determined observation posture, we use the real time walking pattern generator. The effectiveness of the proposed approach is confirmed by using the humanoid robot HRP-2X.</p>

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