RT info:eu-repo/semantics/article
T1 Gaze control of a robotic head for realistic interaction with humans
A1 Duque Domingo, Jaime
A1 Gómez García-Bermejo, Jaime
A1 Zalama Casanova, Eduardo
K1 Human-robot interaction
K1 Interacción hombre-robot
K1 Humanoid robots
K1 Robots humanoides
K1 Computer vision
K1 Visión artificial
K1 1203.04 Inteligencia Artificial
AB 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.
PB Frontiers
SN 1662-5218
YR 2020
FD 2020
LK https://uvadoc.uva.es/handle/10324/48620
UL https://uvadoc.uva.es/handle/10324/48620
LA eng
NO Frontiers in Neurorobotics, 2020, vol. 14, n. 34. 19 p.
NO Producción Científica
DS UVaDOC
RD 27-jul-2024