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oai:uvadoc.uva.es:10324/486202025-02-20T09:28:14Zcom_10324_966com_10324_952com_10324_894col_10324_967

Duque Domingo, Jaime Gómez García-Bermejo, Jaime Zalama Casanova, Eduardo 2021-09-07T11:27:16Z 2021-09-07T11:27:16Z 2020 Frontiers in Neurorobotics, 2020, vol. 14, n. 34. 19 p. 1662-5218 https://uvadoc.uva.es/handle/10324/48620 10.3389/fnbot.2020.00034 Producción Científica When there is an interaction between a robot and a person, gaze control is very important for face-to-face communication. However, when a robot interacts with several people, neurorobotics plays an important role to determine the person to look at and those to pay attention to among the others. There are several factors which can influence the decision: who is speaking, who he/she is speaking to, where people are looking, if the user wants to attract attention, etc. This article presents a novel method to decide who to pay attention to when a robot interacts with several people. The proposed method is based on a competitive network that receives different stimuli (look, speak, pose, hoard conversation, habituation, etc.) that compete with each other to decide who to pay attention to. The dynamic nature of this neural network allows a smooth transition in the focus of attention to a significant change in stimuli. A conversation is created between different participants, replicating human behavior in the robot. The method deals with the problem of several interlocutors appearing and disappearing from the visual field of the robot. A robotic head has been designed and built and a virtual agent projected on the robot's face display has been integrated with the gaze control. Different experiments have been carried out with that robotic head integrated into a ROS architecture model. The work presents the analysis of the method, how the system has been integrated with the robotic head and the experiments and results obtained. Ministerio de Ciencia, Innovación y Universidades (grant RTI2018-096652-B-I00) Junta de Castilla y León - Fondo Europeo de Desarrollo Regional (grant VA233P18) application/pdf eng Frontiers info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by-nc-nd/4.0/ © 2020 Frontiers Attribution-NonCommercial-NoDerivatives 4.0 Internacional Human-robot interaction Interacción hombre-robot Humanoid robots Robots humanoides Computer vision Visión artificial 1203.04 Inteligencia Artificial Gaze control of a robotic head for realistic interaction with humans info:eu-repo/semantics/article info:eu-repo/semantics/publishedVersion https://www.frontiersin.org/articles/10.3389/fnbot.2020.00034/full SI