We present the system overview and integration of the ASIMO autonomous robot that can function successfully in indoor environments. The first model of ASIMO is already being leased to companies for receptionist work. In this paper, we describe the new capabilities that we have added to ASIMO. We explain the structure of the robot system for intelligence, integrated subsystems on its body, and their new functions. We describe the behavior-based planning architecture on ASIMO and its vision and auditory system. We describe its gesture recognition system, human interaction and task performance. We also discuss the external online database system that can be accessed using internet to retrieve desired information, the management system for receptionist work, and various function demonstrations.
Sakagami et al. (2003) studied this question.
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