This paper presents a framework for a visual search behavior of a 3D object in a 3D environment performed by a HRP-2 humanoid robot. The object search falls in the field of sensor planning and is formulated as an optimization problem. The goal is to maximize the target detection probability while minimizing the energy/distance and time to achieve the task. This paper propose some natural constraints based on specificities of the humanoid robot and on the characteristics of the recognition system to reduce the dimension of the problem. The paper presents simulation results of an object search behavior using the HRP-2 robot.

Finalist for the Best Paper Award, selected to be a book chapter.