Integrating vision and audition within a cognitive architecture to track conversations

Trafton, J. Gregory; Bugajska, Magdalena D.; Fransen, Benjamin R.; Ratwani, Raj M.

doi:10.1145/1349822.1349849

Cited by 35 publications

(27 citation statements)

References 32 publications

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“…This may be a simple and natural gesture for making the robot respond rapidly to the detection of a sound before ManyEars can provide a location for the detected sound. Such an addition would be in line with the observation that external observers feel that an attentive robot, which moves its head toward the interlocutor in a two-person, turn-taking conversation, is considered to be more natural than a distracted robot (moving its head with a 500 ms delay) (Trafton, Bugajska, Fransen, & Ratwani, 2008). Finally, a participant commented that he would have said a much lower delay was unacceptable if he had been trying to disturb a person instead of a robot; he explained that he did not really expect contemporary robots to react to his interruptions.…”

Section: Computing Resource Management Feasibility Studysupporting

confidence: 55%

Natural Interaction Design of a Humanoid Robot

Ferland

Létourneau

Aumont

et al. 2013

Journal of Human-Robot Interaction

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Designing robots that interact naturally with people requires the integration of technologies and algorithms for communication modalities such as gestures, movement, facial expressions and user interfaces. To understand interdependence among these modalities, evaluating the integrated design in feasibility studies provides insights about key considerations regarding the robot and potential interaction scenarios, allowing the design to be iteratively refined before larger-scale experiments are planned and conducted. This paper presents three feasibility studies with IRL-1, a new humanoid robot integrating compliant actuators for motion and manipulation along with artificial audition, vision, and facial expressions. These studies explore distinctive capabilities of IRL-1, including the ability to be physically guided by perceiving forces through elastic actuators used for active steering of the omnidirectional platform; the integration of vision, motion and audition for an augmented telepresence interface; and the influence of delays in responding to sounds. In addition to demonstrating how these capabilities can be exploited in human-robot interaction, this paper illustrates intrinsic interrelations between design and evaluation of IRL-1, such as the influence of the contact point in physically guiding the platform, the synchronization between sensory and robot representations in the graphical display, and facial gestures for responsiveness when computationally expensive processes are used. It also outlines ideas regarding more advanced experiments that could be conducted with the platform.

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Section: Computing Resource Management Feasibility Studysupporting

confidence: 55%

Natural Interaction Design of a Humanoid Robot

Ferland

Létourneau

Aumont

et al. 2013

Journal of Human-Robot Interaction

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“…Roy et al used POMDP's to take account of speech recognition errors in state-based transitions of dialogue [14,15]. For social robots, many architectures for cognitive processing have been developed [16,17]. The BIRON system has used state-transition models [18] and common-ground theory [19] to direct dialogue.…”

Section: ) Dialogue Management In Roboticsmentioning

confidence: 99%

An Interaction Design Framework for Social Robots

Glas¹,

Satake

Kanda³

et al. 2011

Robotics: Science and Systems VII

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Abstract-We present a novel design framework enabling the development of social robotics applications by cross-disciplinary teams of programmers and interaction designers. By combining a modular back-end software architecture with an easy-to-use graphical interface for developing interaction sequences, this system enables programmers and designers to work in parallel to develop robot applications and tune the subtle details of social behaviors. In this paper, we describe the structure of our design framework, and we present an experimental evaluation of our system showing that it increases the effectiveness of programmerdesigner teams developing social robot applications.

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“…1, ventures beyond traditional computer displays and mouse/keyboard manipulation to establish embodied presence by first and foremost extending the representation of the visual and aural modules to enable 3D object and sound localization [28,57]. We also extended ACT-R's capabilities to incorporate a locomotion faculty (the "moval" module) and a cognitive-map based spatial reasoning capability (the "spatial" module).…”

Section: Cognitive Architecture and Robot Controlmentioning

confidence: 99%

“Like-Me” Simulation as an Effective and Cognitively Plausible Basis for Social Robotics

Kennedy

Bugajska

Harrison

et al. 2009

Int J of Soc Robotics

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We present a successful design approach for social robotics based on a computational cognitive architecture and mental simulation. We discuss an approach to a Theory of Mind known as a "like-me" simulation in which the agent uses its own knowledge and capabilities as a model of another agent to predict that agent's actions. We present three examples of a "like-me" mental simulation in a social context implemented in the embodied version of the Adaptive Control of Thought-Rational (ACT-R) cognitive architecture, ACT-R/E (for ACT-R Embodied). Our examples show the efficacy of a simulation approach in modeling perspective taking (identifying another's left or right hand), teamwork (simulating a teammate for better team performance), and dominant-submissive social behavior (primate social experiments). We conclude with a discussion of the cognitive plausibility of this approach and our conclusions.

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Integrating vision and audition within a cognitive architecture to track conversations

Cited by 35 publications

References 32 publications

Natural Interaction Design of a Humanoid Robot

Natural Interaction Design of a Humanoid Robot

An Interaction Design Framework for Social Robots

“Like-Me” Simulation as an Effective and Cognitively Plausible Basis for Social Robotics

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