Title:
Behavioral Overlays for Non-Verbal Communication Expression on a Humanoid Robot
Behavioral Overlays for Non-Verbal Communication Expression on a Humanoid Robot
Author(s)
Brooks, Andrew G.
Arkin, Ronald C.
Arkin, Ronald C.
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Abstract
This research details the application of non-verbal
communication display behaviors to an autonomous
humanoid robot, including the use of proxemics,
which to date has been seldom explored in the field
of human-robot interaction. In order to allow the
robot to communicate information non-verbally while
simultaneously fulfilling its existing instrumental behavior,
a “behavioral overlay” model that encodes
this data onto the robot’s pre-existing motor expression
is developed and presented. The state of
the robot’s system of internal emotions and motivational
drives is used as the principal data source
for non-verbal expression, but in order for the robot
to display this information in a natural and nuanced
fashion, an additional para-emotional framework
has been developed to support the individuality
of the robot’s interpersonal relationships with humans
and of the robot itself. An implementation on
the Sony QRIO is described which overlays QRIO’s
existing EGO architecture and situated schema-based
behaviors with a mechanism for communicating this
framework through modalities that encompass posture,
gesture and the management of interpersonal
distance.
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Date Issued
2006-07-26
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Paper