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Erschienen in:
2013 | OriginalPaper | Buchkapitel
Multimodal People Engagement with iCub
verfasst von : Salvatore M. Anzalone, Serena Ivaldi, Olivier Sigaud, Mohamed Chetouani
Erschienen in: Biologically Inspired Cognitive Architectures 2012
Verlag: Springer Berlin Heidelberg
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In this paper we present an engagement system for the iCub robot that is able to arouse in human partners a sense of “co-presence” during human-robot interaction. This sensation is naturally triggered by simple reflexes of the robot, that speaks to the partners and gazes the current “active partner” (e.g. the talking partner) in interaction tasks. The active partner is perceived through a multimodal approach: a commercial rgb-d sensor is used to recognize the presence of humans in the environment, using both 3d information and sound source localization, while iCub’s cameras are used to perceive his face.