Human-Oriented Interaction With An Anthropomorphic Robot s
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Human-Oriented Interaction With An Anthropomorphic Robot

.doc   Human-Oriented Interaction.doc (Size: 5.75 MB / Downloads: 35)

A very important aspect in developing robots capa¬ble 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 an¬thropomorphic appearance has the potential to support intuitive usage and understanding of a robot, e.g .. human-like facial ex¬pressions and deictic gestures can as well be produced and also understood by the robot.


For many people, the use of technology has become com¬mon in their daily lives, Examples range from DVD play¬ers, Computers at workplace or for home entertainment; to re¬frigerators with integrated Internet connection for ordering new food automatically.The amount of technique in our everyday life is growing continuously. Keeping in mind the increasing mean age of the society and considering the increasing complexity of technology, the introduction of robots that will act as interfaces with technological appliances is a very promising approach. An example for an almost ready-to-sale user-interface robot is iCat [I], which focuses on the target not to adapt ourselves to technology but being able to communicate with technology in a human-like way.

Related Work

There are several human-like or humanoid robots used for research in HRI as some examples are depicted in Fig. 2. ROBITA [4], for example, is a torso robot that uses a time¬ and person-dependent attention System to take part in a conver¬sation with several human communication partners. The robot is able to detect the gazing direction and gestures of humans by video cameras integrated in its eyes. The direction of a speaker is determined by microphones. The face detection is based on skin color detection at the same height as the head of the robot. The gazing direction of a communication partner's head is es¬timated by an eigen face-based classifier. For gesture detection, the positions of hands, shoulders, and elbows are used. ROBITA calculates the postures of different communication partners and predicts who will continue the conversation, and thus, focuses its attention.

Robot Hardware

We use the humanoid robot BARTHOC [11] (see Fig. 1) for implementing the presented approaches. BARTHOC is able to move its upper body like a sitting human and corresponds to an adult person with a size of 75 cm from its waist upwards. The torso is mounted on a 65-cm-high chair-like socket, which includes the power supply, two serial connections to a desktop computer, and a motor for rotations around its main axis. One interface is used for controlling head and neck actuators, while the second one is connected to all components below the neck. The torso of the robot consists of a metal frame with a trans¬parent cover to protect the inner elements.

Detecting And Tracking People

In order to allow human-oriented interaction, the robot must be enabled to focus its attention on the human interaction partner. By means of a video camera and a set of two microphones, it is possible to detect and continuously track multiple people in real time with a robustness comparable to systems, using wide field of perception sensors. The developed generic tracking method is designed to flexibly make use of different kinds of perceptual modules running asynchronously at different rates, allowing to easily adopt it for different platforms. The tracking system itself is also running on our service robot BIRON [14], relying on a laser range finder for the detection and tracking of leg pairs as an additional cue. For the human-equivalent perception channels of BARTHOC, only two perceptua1 modules are used:

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