Communication layers between robot and human

In this paper, we propose and discuss about some communication layers of conversation analogous to that of computer networks. The layers relate to understanding levels of participants of the conversation whether among artificial or human agents. Human beings control the layers to perform efficient and correct communication. To control the layers, it is necessary to get discrimination of them from receiver's behaviors and to make selection of responses. Some analysis about these problems are given based on the proposed communication model. Furthermore, efficiency and ease of communication are considered from the viewpoint of communication layers.