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We describe a system for visual interaction developed for humanoid robots. It enables the robot to interact with its environment using a smooth whole body motion control driven by stabilized visual targets. Targets are defined as visually extracted "proto-objects" and behavior-relevant object hypotheses and are stabilized by means of a short-term sensory(More)
The contribution of this paper is twofold. First, we present a new conceptual framework for modeling incremental hierarchical behavior control systems for humanoids. The biological motivation and the key elements are discussed. Second, we show our current instance of such a behavior control system, called ALIS. It is designed according to the concepts(More)
We introduce our latest autonomous learning and interaction system instance ALIS 2. It comprises different sensing modalities for visual (depth blobs, planar surfaces, motion) and auditory (speech, localization) signals and selfcollision free behavior generation on the robot ASIMO. The system design emphasizes the split into a completely autonomous reactive(More)
Man-made real-world environments are dominated by planar surfaces many of which constitute behavior-relevant entities. Thus, the ability to perceive planar surfaces is vital for any embodied system operating in such environments, be it human or robotic. In this paper, we present an architecture for detection and estimation of planar surfaces in the scene(More)
We propose a simple but efficient control strategy to manipulate objects of unknown shape, weight, and friction properties — prerequisites which are necessary for classical offline grasping and manipulation methods. Instead, the proposed control strategy employs estimated contact point locations, which can be obtained from modern tactile sensors with(More)
A stable perception of the environment is a crucial prerequisite for researching the learning of semantics from human-robot interaction and also for the generation of behavior relying on the robots perception. In this paper, we propose several contributions to this research field. To organize visual perception the concept of proto-objects is used for the(More)
The expectation that gluons form bound states, socalled glueballs, is as old as QCD itself [1]. Indeed, such states make up the spectrum of pure SU(3) gauge theory and have rather precisely been determined in lattice simulations [2–4]. However, an unambiguous experimental confirmation of their existence is still missing. Lattice simulations have provided an(More)