Towards meaningful robot gesture

Salem M, Kopp S, Wachsmuth I, Joublin F (2009)
In: Human Centered Robot Systems: Cognition, Interaction, Technology. Ritter H, Sagerer G, Dillmann R, Buss M (Eds); Cognitive Systems Monographs, 6. Berlin: Springer: 173-182.

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Book Chapter | Published | English
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Ritter, Helge ; Sagerer, Gerhard ; Dillmann, Rüdiger ; Buss, Martin
Abstract
Humanoid robot companions that are intended to engage in natural and fluent human-robot interaction are supposed to combine speech with non-verbal modalities for comprehensible and believable behavior. We present an approach to enable the humanoid robot ASIMO to flexibly produce and synchronize speech and co-verbal gestures at run-time, while not being limited to a predefined repertoire of motor action. Since this research challenge has already been tackled in various ways within the domain of virtual conversational agents, we build upon the experience gained from the development of a speech and gesture production model used for our virtual human Max. Being one of the most sophisticated multi-modal schedulers, the Articulated Communicator Engine (ACE) has replaced the use of lexicons of canned behaviors with an on-the-spot production of flexibly planned behavior representations. As an underlying action generation architecture, we explain how ACE draws upon a tight, bi-directional coupling of ASIMO’s perceptuo-motor system with multi-modal scheduling via both efferent control signals and afferent feedback.
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Salem M, Kopp S, Wachsmuth I, Joublin F. Towards meaningful robot gesture. In: Ritter H, Sagerer G, Dillmann R, Buss M, eds. Human Centered Robot Systems: Cognition, Interaction, Technology. Cognitive Systems Monographs. Vol 6. Berlin: Springer; 2009: 173-182.
Salem, M., Kopp, S., Wachsmuth, I., & Joublin, F. (2009). Towards meaningful robot gesture. In H. Ritter, G. Sagerer, R. Dillmann, & M. Buss (Eds.), Cognitive Systems Monographs: Vol. 6. Human Centered Robot Systems: Cognition, Interaction, Technology (pp. 173-182). Berlin: Springer.
Salem, M., Kopp, S., Wachsmuth, I., and Joublin, F. (2009). “Towards meaningful robot gesture” in Human Centered Robot Systems: Cognition, Interaction, Technology, ed. H. Ritter, G. Sagerer, R. Dillmann, and M. Buss Cognitive Systems Monographs, vol. 6, (Berlin: Springer), 173-182.
Salem, M., et al., 2009. Towards meaningful robot gesture. In H. Ritter, et al., eds. Human Centered Robot Systems: Cognition, Interaction, Technology. Cognitive Systems Monographs. no.6 Berlin: Springer, pp. 173-182.
M. Salem, et al., “Towards meaningful robot gesture”, Human Centered Robot Systems: Cognition, Interaction, Technology, H. Ritter, et al., eds., Cognitive Systems Monographs, vol. 6, Berlin: Springer, 2009, pp.173-182.
Salem, M., Kopp, S., Wachsmuth, I., Joublin, F.: Towards meaningful robot gesture. In: Ritter, H., Sagerer, G., Dillmann, R., and Buss, M. (eds.) Human Centered Robot Systems: Cognition, Interaction, Technology. Cognitive Systems Monographs. 6, p. 173-182. Springer, Berlin (2009).
Salem, Maha, Kopp, Stefan, Wachsmuth, Ipke, and Joublin, Frank. “Towards meaningful robot gesture”. Human Centered Robot Systems: Cognition, Interaction, Technology. Ed. Helge Ritter, Gerhard Sagerer, Rüdiger Dillmann, and Martin Buss. Berlin: Springer, 2009.Vol. 6. Cognitive Systems Monographs. 173-182.
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