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In this paper, a natural human-humanoid robot interaction system is proposed. In this system, the type of task is determined with naïve Bayes classifier firstly, and then most of the conditions which are prerequisite to the execution of task are calculated with frame-based reasoning method. The initial position of task object must be calculated with vision. First, the hand position is localized with temporal differencing algorithm. Then, the object region can be determined with the pointing direction of hand. Finally, the reference position of task object in world coordinate system is calculated with binocular vision system.