Humanoid robot painter assisted by a human

In this paper, we describe a NAO H25 humanoid robot painter assisted by a human. The aim of this study is to reproduce the whole painting process by a humanoid robot with a vision system and fingers. The novelty of the study lies in using a human assistant in interaction with the robot and filling regions in the picture. The painting process is performed by the humanoid robot in three phases: obtaining the image of the environment which the objects are in, extracting the objects to paint and painting them in interaction with its assistant. (i.e. Robot says to human:”Could you give me the blue color”). In this paper, the process is simulated within Webots. This study will be used in disabled children's rehabilitation where children will be asked to assist the robot in painting. There is an on-going study which aims to implement this study on real NAO H25 humanoid robot.