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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Closing the Loop: Towards Tightly Synchronized Robot Gesture and Speech
verfasst von : Maha Salem, Stefan Kopp, Frank Joublin
Erschienen in: Social Robotics
Verlag: Springer International Publishing
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To engage in natural interactions with humans, social robots should produce speech-accompanying non-verbal behaviors such as hand and arm gestures. Given the special constraints imposed by the physical properties of a humanoid robot, successful multimodal synchronization is difficult to achieve. Introducing the first closed-loop approach to speech and gesture generation for humanoid robots, we propose a multimodal scheduler for improved synchronization based on two novel features, namely an experimentally fitted forward model and a feedback-based adaptation mechanism. Technical results obtained with the implemented scheduler demonstrate the feasibility of our approach; empirical results from an evaluation study highlight the implications of the present work.