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A gesture-centric Android system for multi-party human-robot interaction

Authors:

Kentaro Takemura,

Tsukasa OgasawaraAuthors Info & Claims

Journal of Human-Robot Interaction, Volume 2, Issue 1

Pages 133 - 151

https://doi.org/10.5898/JHRI.2.1.Kondo

Published: 27 February 2013 Publication History

Abstract

Natural body gesturing and speech dialogue, is crucial for human-robot interaction (HRI) and human-robot symbiosis. Real interaction is not only with one-to-one communication but also among multiple people. We have therefore developed a system that can adjust gestures and facial expressions based on a speaker's location or situation for multi-party communication. By extending our already developed real-time gesture planning method, we propose a gesture adjustment suitable for human demand through motion parameterization and gaze motion planning, which allows communication through eye-to-eye contact. We implemented the proposed motion planning method on an android Actroid-SIT and we proposed to use a Key-Value Store to connect the components of our systems. The Key-Value Store is a high-speed and lightweight dictionary database with parallelism and scalability. We conducted multi-party HRI experiments for 1,662 subjects in total. In our HRI system, over 60% of subjects started speaking to the Actroid, and the residence time of their communication also became longer. In addition, we confirmed our system gave humans a more sophisticated impression of the Actroid.

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Cited By

Kodani NUchida TKameo NBan MSakai KFunayama TMinato TKikuchi AIshiguro HGrollman DBroadbent EJu WSoh HWilliams T(2024)Effects of Gestures and Negative Attitudes on Impressions of Lecturing RobotsCompanion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610978.3640612(628-631)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610978.3640612
Zhang ALin TZhao XSebo S(2023)Ice-Breaking Technology: Robots and Computers Can Foster Meaningful Connections between Strangers through In-Person ConversationsProceedings of the 2023 CHI Conference on Human Factors in Computing Systems10.1145/3544548.3581135(1-14)Online publication date: 19-Apr-2023
https://dl.acm.org/doi/10.1145/3544548.3581135
Jin ADeng QDeng Z(2022)S2M-Net: Speech Driven Three-party Conversational Motion Synthesis NetworksProceedings of the 15th ACM SIGGRAPH Conference on Motion, Interaction and Games10.1145/3561975.3562954(1-10)Online publication date: 3-Nov-2022
https://dl.acm.org/doi/10.1145/3561975.3562954
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Information & Contributors

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Published In

cover image Journal of Human-Robot Interaction

Journal of Human-Robot Interaction Volume 2, Issue 1

Special Issue on HRI System Studies

February 2013

170 pages

EISSN:2163-0364

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Journal of Human-Robot Interaction Steering Committee

Publication History

Published: 27 February 2013

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Cited By

Kodani NUchida TKameo NBan MSakai KFunayama TMinato TKikuchi AIshiguro HGrollman DBroadbent EJu WSoh HWilliams T(2024)Effects of Gestures and Negative Attitudes on Impressions of Lecturing RobotsCompanion of the 2024 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3610978.3640612(628-631)Online publication date: 11-Mar-2024
https://dl.acm.org/doi/10.1145/3610978.3640612
Zhang ALin TZhao XSebo S(2023)Ice-Breaking Technology: Robots and Computers Can Foster Meaningful Connections between Strangers through In-Person ConversationsProceedings of the 2023 CHI Conference on Human Factors in Computing Systems10.1145/3544548.3581135(1-14)Online publication date: 19-Apr-2023
https://dl.acm.org/doi/10.1145/3544548.3581135
Jin ADeng QDeng Z(2022)S2M-Net: Speech Driven Three-party Conversational Motion Synthesis NetworksProceedings of the 15th ACM SIGGRAPH Conference on Motion, Interaction and Games10.1145/3561975.3562954(1-10)Online publication date: 3-Nov-2022
https://dl.acm.org/doi/10.1145/3561975.3562954
Novoa JMahu RWuth JEscudero JFredes JYoma N(2021)Automatic Speech Recognition for Indoor HRI ScenariosACM Transactions on Human-Robot Interaction10.1145/344262910:2(1-30)Online publication date: 8-Mar-2021
https://dl.acm.org/doi/10.1145/3442629
Nanavati ADoering MBrščić DKanda TBelpaeme TYoung JGunes HRiek L(2020)Autonomously Learning One-To-Many Social Interaction Logic from Human-Human Interaction DataProceedings of the 2020 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3319502.3374798(419-427)Online publication date: 9-Mar-2020
https://dl.acm.org/doi/10.1145/3319502.3374798
Sano TYuguchi ARicardez GTakamatsu JNakazawa AOgasawara T(2020)Evaluating Imitation of Human Eye Contact and Blinking Behavior Using an Android for Human-like Communication2019 28th IEEE International Conference on Robot and Human Interactive Communication (RO-MAN)10.1109/RO-MAN46459.2019.8956387(1-6)Online publication date: 16-Jun-2020
https://dl.acm.org/doi/10.1109/RO-MAN46459.2019.8956387
Jin ADeng QZhang YDeng Z(2019)A Deep Learning-Based Model for Head and Eye Motion Generation in Three-party ConversationsProceedings of the ACM on Computer Graphics and Interactive Techniques10.1145/33402502:2(1-19)Online publication date: 26-Jul-2019
https://dl.acm.org/doi/10.1145/3340250
Novoa JWuth JEscudero JFredes JMahu RYoma NKanda TŜabanović SHoffman GTapus A(2018)DNN-HMM based Automatic Speech Recognition for HRI ScenariosProceedings of the 2018 ACM/IEEE International Conference on Human-Robot Interaction10.1145/3171221.3171280(150-159)Online publication date: 26-Feb-2018
https://dl.acm.org/doi/10.1145/3171221.3171280
Vultur O(2018)Performance Analysis of “Drive Me” - a Human Robot Interaction System2018 International Conference on Communications (COMM)10.1109/ICComm.2018.8430159(125-130)Online publication date: 14-Jun-2018
https://dl.acm.org/doi/10.1109/ICComm.2018.8430159
Sandygulova ADragone MO’Hare GShen LMuñoz AZhang T(2016)PRIveT – a portable ubiquitous robotics testbed for adaptive human-robot interactionJournal of Ambient Intelligence and Smart Environments10.3233/AIS-1503568:1(5-19)Online publication date: 7-Jan-2016
https://dl.acm.org/doi/10.3233/AIS-150356
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