Recognizing engagement in human-robot interaction

  • Rich C
  • Ponsler B
  • Holroyd A
 et al. 
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Abstract

Based on a study of the engagement process between humans, we have developed and implemented an initial computational model for recognizing engagement between a human and a humanoid robot. Our model contains recognizers for four types of connection events involving gesture and speech: directed gaze, mutual facial gaze, conversational adjacency pairs and backchannels. To facilitate integrating and experimenting with our model in a broad range of robot architectures, we have packaged it as a node in the open-source Robot Operating System (ROS) framework. We have conducted a preliminary validation of our computational model and implementation in a simple human-robot pointing game.

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Authors

  • Charles Rich

  • Brett Ponsler

  • Aaron Holroyd

  • Candace L. Sidner

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