Skip to main content

Achievement of Carrying Objects by Small-Sized Humanoid Robot

  • Conference paper
  • 1684 Accesses

Part of the Lecture Notes in Computer Science book series (LNISA,volume 5309)


It is expected that the sphere of activity of robots will spread widely in the near future not only in fields of industry but to various aspects of our everyday life. On the basis of this expectation, in this research we aimed at the creation of a robot that supports our daily life and tried to develop a small-sized humanoid robot that can find an object, pick it up, and carry it. We developed an algorithm for a robot to recognize an object using color information. Also, based on the algorithm the robot calculates the direction and the distance to the object, moves to the precise position and picks up the object and carries it. Finally, we carried out an experiment to evaluate the performance and were able to obtain a high success rate.


  • humanoid robot
  • object recognition
  • physical support


  1. AIBO Official Site,


  3. Friedmann, M., Kiener, J., Petters, S., Thomas, D., von Stryk, O., Sakamoto, H.: Versatile, high-quality motions and behavior control of humanoid soccer robots. In: Proceedings of Workshop on Humanoid Soccer Robots of the 2006 IEEE International Conference on Humanoid Robots, pp. 9–16 (2006)

    Google Scholar 

  4. Shinozaki, K., Iwatani, A., Nakatsu, R.: Concept and Construction of a Robot Dance System. The International Journal of Virtual Reality 6(3), 29–34 (2007)

    Google Scholar 

  5. Wama, T., Higuchi, M., Sakamoto, H., Nakatsu, R.: Realization of Tai-chi Motion Using a Humanoid Robot. In: Entertainment Computing. LNCS, pp. 14–19. Springer, Heidelberg (2004)

    Google Scholar 

  6. Okada, K., Ogura, T., Haneda, A., Kousaka, D., Nakai, H., Inaba, M., Inoue, H.: Integrated System Software for HRP2 Humanoid. In: Proc. of International Conference on Robotics and Automation (ICRA 2004), pp. 3207–3212 (2004)

    Google Scholar 

  7. Pineau, J., et al.: Towards robotic assistants in nursing homes: Challenges and results. Robotics and Autonomous Systems 42(3-4), 271–281 (2003)

    CrossRef  MATH  Google Scholar 

  8. Smith, A.R.: Color gamut transformation pairs. Computer Graphics 12, 12–19 (1978)

    CrossRef  Google Scholar 

Download references

Author information

Authors and Affiliations


Editor information

Editors and Affiliations

Rights and permissions

Reprints and Permissions

Copyright information

© 2008 IFIP International Federation for Information Processing

About this paper

Cite this paper

Nakagawa, H., Nakatsu, R. (2008). Achievement of Carrying Objects by Small-Sized Humanoid Robot. In: Stevens, S.M., Saldamarco, S.J. (eds) Entertainment Computing - ICEC 2008. ICEC 2008. Lecture Notes in Computer Science, vol 5309. Springer, Berlin, Heidelberg.

Download citation

  • DOI:

  • Publisher Name: Springer, Berlin, Heidelberg

  • Print ISBN: 978-3-540-89221-2

  • Online ISBN: 978-3-540-89222-9

  • eBook Packages: Computer ScienceComputer Science (R0)