Evaluation-controlling mechanism of perception, planning, and execution for a life-sized humanoid robot

It is necessary for a robot system to control accuracy and region-of-interest according to safety, specified time limit, and available computer resources. If enough duration for a task is provided, robot can use more accurate perception and planners producing higher rate of success. In the research and development of robot systems, these relationship between accuracy and computation time has been tuned carefully by hand. Appropriate sensors, algorithms and parameters are necessary to be chosen by system implementers. In this paper, a constitution method being able to control and evaluate perceptions and actions for robot systems is proposed towards implementing robot systems with automatic parameter controls of perceptions and planners corresponding to specified time limits and success rate.