This paper describes a rapid development system for vision-based behaviors of humanoid which consist of both real robot and virtual robot in simulation environment. Vision based behavior of a humanoid is very complex and difficult to develop, therefore simulation environment to develop it rapidly and efficiently, and to verify or to evaluate it is required. Previous simulator in robotics is lim...

The complexity of today’s autonomous robots poses a major challenge for Artificial Intelligence. These robots are equipped with sophisticated sensors and mechanical abilities that allow them to enter our homes and interact with humans. For example, today’s robots are almost all equipped with vision and several of them can move over rough terrain with wheels or legs. The methods developed so far...

In this thesis we propose a vision-based robot navigation system that constructs a high level topological representation of the world. A robot using this system learns to recognize rooms and spaces by building a hidden Markov model of the environment. Motion planning is performed by doing bidirectional heuristic search with a discrete set of actions that account for the robot's nonholonomic con...

In this paper we will discuss certain issues regarding robot vision. We will deal with aspects of pre-attentive versus attentive vision, control mechanisms for low level focus of attention, representation of motion as the orientation of hyperplanes in multdimensional time-space. Issues of scale will be touched upon.

-We have de veloped a humanoid robot HRP-2P with a biped locomotion controller, stereo vision software and aural human interface to realize cooperative works by a human and a humanoid robot. The robot can find a target object by the vision, and carry it cooperatively with a human by biped locomotion according to the voice commands by the human. A cooperative control is applied to the arms of th...

Self-Supervised Learning (SSL) is a reliable learning mechanism in which a robot uses an original, trusted sensor cue for training to recognize an additional, complementary sensor cue. We study for the first time in SSL how a robot’s learning behavior should be organized, so that the robot can keep performing its task in the case that the original cue becomes unavailable. We study this persiste...

This paper presents recent results from the Robotics Systems Laboratory at the Australian National University in the area of Robot Vision. Progress has been made in the design and construction of novel mechanisms for both active and panoramic vision, together with computer systems that facilitate real-time vision processing. The robot vision systems are being used to develop human-friendly robo...

Vision is a powerful sense that permits a robot to look around itself and gather information both about the immediate present and the near future. The future arrives through the more distant physical space through which the robot can move, and the possible actions and events that may arise. To know the future a robot needs to parse the world with the aid of its models and experience. Lasers and...

This paper discusses a parallel architecture designed for autonomous mobile robot navigation tasks. Parallelism is used to enhance system speed and developmental exibility. The system-called MADRON-consists of ve independent parallel agents sharing common data and control information. They are a communication agent for interfacing the system with a `Ralph' class autonomous mobile robot, a visio...

We propose a method which acquires a purposive behavior for a mobile robot to shoot a ball into the goal by using a vision-based reinforcement learning. A mobile robot (an agent) does not need to know any parameters of the 3-D environment or its kinematics/dynamics. Information about the changes of the environment is only the image captured from a single TV camera mounted on the robot. An actio...