InterRobot: a speech driven embodied interaction robot

Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499) Pub Date : 2000-09-27 DOI:10.1109/ROMAN.2000.892517

H. Ogawa, Tomio Watanabe

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引用次数: 87

Abstract

The concept of a speech driven embodied interaction robots system is introduced for supporting human interaction by generating the expressive actions or motions of robots coherently related to speech input. Then, the prototype of the system which consists of 2 interaction robots called InterRobots with both functions of speaker and listener is developed in which two models are incorporated: one is a listener's action model in which nodding, blinking and the motions of head, arms and body are estimated by the hierarchical moving average (MA) model of the burst-pause (ON-OFF) of speech to the nodding; the other is a speaker's action model in which the motions of head, arms and body are estimated by its own MA model of the ON-OFF of speech to the head motion. By the sensory evaluation and behavioral analysis in human-robot interaction, the effectiveness of InterRobot's interaction is demonstrated. The effectiveness of the embodied interaction robots system is also confirmed in remote communication.

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InterRobot:语音驱动的具身交互机器人

引入了语音驱动的具身交互机器人系统的概念，通过生成与语音输入连贯相关的机器人表达动作或运动来支持人类交互。然后，开发了由2个具有说话和倾听功能的交互机器人InterRobots组成的系统原型，其中包含两个模型:一个是听者的动作模型，其中听者的点头、眨眼以及头部、手臂和身体的运动由语音的突然暂停(ON-OFF)的分层移动平均(MA)模型估计;另一种是说话者的动作模型，该模型通过说话者自身的言语对头部运动的ON-OFF MA模型来估计说话者的头部、手臂和身体的运动。通过人机交互的感官评价和行为分析，验证了人机交互的有效性。在远程通信中也验证了具身交互机器人系统的有效性。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Proceedings 9th IEEE International Workshop on Robot and Human Interactive Communication. IEEE RO-MAN 2000 (Cat. No.00TH8499)

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