Object Manipulation using a Humanoid Robot
El Sayed M. Saad1, Medhat H. Awadalla2, Hosam Eldin I. Ali3, Rasha F. A. Mostafa4
1El Sayed M. Saad, Department of Communications, Electronics and Computers, Helwan University, faculty of Engineering Cairo, Egypt.
2Medhat H. Awadalla, Department of Communications, Electronics and Computers, Helwan University, faculty of Engineering Cairo, Egypt& Department of Electrical and computer engineering, SQU, Oman.
3Hossam E.I.Ali, Department of Communications, Electronics and Computers, Helwan University, faculty of Engineering Cairo, Egypt.
4Rasha. F.A. Mostafa, Department of Communications, Electronics and Computers, Helwan University, faculty of Engineering Cairo, Egypt.
Manuscript received on July 17, 2012. | Revised Manuscript received on August 25, 2012. | Manuscript published on August 30, 2012. | PP: 112-119 | Volume-1 Issue-6, August 2012. | Retrieval Number: F0646081612/2012©BEIESP
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© The Authors. Blue Eyes Intelligence Engineering and Sciences Publication (BEIESP). This is an open access article under the CC BY-NC-ND license (http://creativecommons.org/licenses/by-nc-nd/4.0/)
Abstract: Interaction with its environment is a key requisite for a humanoid robot. Especially the ability to recognize and manipulate unknown objects is crucial to successfully work in natural environments. Visual object recognition, however, still remains a challenging problem. To get the robot capable of identifying the geometric shapes and colors of the objects, a vision system is proposed. The paper proposes a natural language understanding system also, where the robot will be able to effectively communicate with human through a dialogue developed in Arabic language. The developed dialogue and a dynamic object model are used for learning the semantic categories and object descriptions. In this paper, a robot will be developed to interact with the users performing some specified actions. Moreover, integration between the proposed vision and natural language understanding systems has been presented. Finally, a voice-based dialogue between the user and robot will be developed. Intensive experiments have been conducted indoor to address the validity of the complete proposed system. The achieved results show that the overall system performance is high compared with the related literature to the theme of this paper.
Keywords: Vision System, Speech system, object category recognition, Object Detection, Color detection, Natural Language Understanding, Ontology, Syntax, knowledge Representation, Semantic Networks, Motion System.