Domestic Interaction on a Segway Base

  • W. Bradley Knox
  • Juhyun Lee
  • Peter Stone
Part of the Lecture Notes in Computer Science book series (LNCS, volume 5399)


To be useful in a home environment, an assistive robot needs to be capable of a broad range of interactive activities such as locating objects, following specific people, and distinguishing among different people. This paper presents a Segway-based robot that successfully performed all of these tasks en route to a second place finish in the RoboCup@Home 2007 competition. The main contribution is a complete description and analysis of the robot system and its implemented algorithms that enabled the robot’s successful human-robot interaction in this broad and challenging forum. We describe in detail a novel person recognition algorithm, a key component of our overall success, that included two co-trained classifiers, each focusing on different aspects of the person (face and shirt color).


Mobile Robot Face Recognition Face Image Face Detection Find Task 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


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Copyright information

© Springer-Verlag Berlin Heidelberg 2009

Authors and Affiliations

  • W. Bradley Knox
    • 1
  • Juhyun Lee
    • 1
  • Peter Stone
    • 1
  1. 1.Department of Computer SciencesUniversity of Texas at AustinUSA

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