Multimodal Conversation between a Humanoid Robot and
Multiple Persons
- Authors: Maren Bennewitz, Felix Faber, Dominik Joho, Michael
Schreiber, and Sven Behnke
- In Proceedings of Workshop on Modular Construction of Human-Like
Intelligence at the
Twentieth National Conference on Artificial Intelligence (AAAI05),
Pittsburgh, USA, July 2005.
- Abstract:
Attracting people and involving multiple persons into an interaction is
an essential capability for a humanoid robot. A prerequisite for such a
behavior is that the robot is able to sense people in its vicinity and
to know where they are located. In this paper, we propose an approach
that maintains a probabilistic belief about people in the surroundings
of the robot. Using this belief, the robot is able to memorize people
even if they are currently outside its limited field of view.
Furthermore, we use a technique to localize a speaker in the
environment. In this way, even people who are currently not the primary
conversational partners or who are not stored in the robot's belief can
attract its attention. To enrich human-robot interaction and to express
how the robot changes its mood, we apply a technique to change its
facial expressions. As we demonstrate in practical experiments, by
integrating the presented techniques into its control architecture, our
robot is able to interact with multiple persons in a multimodal way and
to shift its attention between different people.
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