Recognizing engagement in human-robot interaction

Authors:
Charles Rich;Brett Ponsleur;Aaron Holroyd;Candace L. Sidner
Affiliations:
Worcester Polytechnic Institute, Worcester, MA, USA;Worcester Polytechnic Institute, Worcester, MA, USA;Worcester Polytechnic Institute, Worcester, MA, USA;Worcester Polytechnic Institute, Worcester, MA, USA
Venue:
Proceedings of the 5th ACM/IEEE international conference on Human-robot interaction
Year:
2010

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Abstract

Based on a study of the engagement process between humans, we have developed and implemented an initial computational model for recognizing engagement between a human and a humanoid robot. Our model contains recognizers for four types of connection events involving gesture and speech: directed gaze, mutual facial gaze, conversational adjacency pairs and backchannels. To facilitate integrating and experimenting with our model in a broad range of robot architectures, we have packaged it as a node in the open-source Robot Operating System (ROS) framework. We have conducted a preliminary validation of our computational model and implementation in a simple human-robot pointing game.