Enabling a Humanoid Robot to Interact with Multiple Persons
- Authors: Maren Bennewitz, Felix Faber, Dominik Joho, Michael
Schreiber, and Sven Behnke
- In Proceedings of 1st International Conference on Dextrous
Autonomous Robots and Humanoids (DARH05),
Yverdon-les-Bains, Switzerland, May 2005.
- Abstract:
Showing attentiveness to people is an essential capability for a robot
designed to interact with humans. Involving several persons into an
interaction requires that the robot knows where the persons are
relatively to its current location. Therefore, we propose an approach
that maintains a probabilistic belief about people in the surroundings
of the robot which is updated based on sensory information. 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 stored in the belief of the robot can attract its
attention. As we show in practical experiments, our humanoid robot is
able to shift its attention between different persons. Even people who
are not the primary conversational partner are included into the
interaction.
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