Enabling multimodal human-robot interaction for the Karlsruhe humanoid robot


Stiefelhagen R., Ekenel H. K. , FUGEN C., GIESELMANN P., HOLZAPFEL H., KRAFT F., ...Daha Fazla

IEEE TRANSACTIONS ON ROBOTICS, cilt.23, ss.840-851, 2007 (SCI İndekslerine Giren Dergi) identifier identifier

  • Cilt numarası: 23 Konu: 5
  • Basım Tarihi: 2007
  • Doi Numarası: 10.1109/tro.2007.907484
  • Dergi Adı: IEEE TRANSACTIONS ON ROBOTICS
  • Sayfa Sayıları: ss.840-851

Özet

In this paper, we present our work in building technologies for natural multimodal human-robot interaction. We present our systems for spontaneous speech recognition, multimodal dialogue processing, and visual perception of a user, which includes localization, tracking, and identification of the user, recognition of pointing gestures, as well as the recognition of a person's head orientation. Each of the components is described in the paper and experimental results are presented. We also present several experiments on multimodal human-robot interaction, such as interaction using speech and gestures, the automatic determination of the addressee during human-human-robot interaction, as well on interactive learning of dialogue strategies. The work and the components presented here constitute the core building blocks for audiovisual perception of humans and multimodal human-robot interaction used for the humanoid robot developed within the German research project (Sonderforscbungsbereich) on humanoid cooperative robots.