Human-Oriented Interaction With an Anthropomorphic Robot

T.P. Spexard, M.. Hanheide, G.. Sagerer
<span title="">2007</span> <i title="Institute of Electrical and Electronics Engineers (IEEE)"> <a target="_blank" rel="noopener" href="" style="color: black;">IEEE Transactions on robotics</a> </i> &nbsp;
A very important aspect in developing robots capable of human-robot interaction (HRI) is the research in natural, human-like communication and subsequently the development of a research platform with multiple HRI-capabilities for evaluation. Besides a flexible dialog system and speech understanding an anthropomorphic appearance has the potential to support intuitive usage and understanding of a robot, e.g., human-like facial expressions and deictic gestures can be as well produced and also
more &raquo; ... stood by the robot. As a consequence of our effort in creating an anthropomorphic appearance and to come close to a human-human interaction model for a robot, we decided to use human-like sensors, i.e., two cameras and two microphones only, in analogy to human perceptual capabilities, too. Despite the challenges resulting from these limits with respect to perception, a robust attention system for tracking and interacting with multiple persons simultaneously in real-time is presented. The tracking approach is sufficiently generic to work on robots with varying hardware, as long as stereo audio data and images of a video camera are available. To easily implement different interaction capabilities like deictic gestures, natural adaptive dialogs, and emotion awareness on the robot we apply a modular integration approach utilizing XML based data exchange. The paper focuses on our efforts to bring together different interaction concepts and perception capabilities integrated on a humanoid robot to achieve comprehending human-oriented interaction.
<span class="external-identifiers"> <a target="_blank" rel="external noopener noreferrer" href="">doi:10.1109/tro.2007.904903</a> <a target="_blank" rel="external noopener" href="">fatcat:gzjr3le4ifespeiwidyww4b2um</a> </span>
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