Entrainment of pointing gestures by robot motion

Authors:
Takamasa Iio;Masahiro Shiomi;Kazuhiko Shinozawa;Takaaki Akimoto;Katsunori Shimohara;Norihiro Hagita
Affiliations:
ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan and Doshisha University, Kyoto, Japan;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan;Doshisha University, Kyoto, Japan;ATR Intelligent Robotics and Communication Laboratories, Kyoto, Japan
Venue:
ICSR'10 Proceedings of the Second international conference on Social robotics
Year:
2010

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Abstract

Social robots need to recognize the objects indicated by people to work in real environments. This paper presents the entrainment of human pointing gestures during interaction with a robot and investigated what robot gestures are important for such entrainment. We conducted a Wizard-of-Oz experiment where a person and a robot referred to objects and evaluated the entrainment frequency. The frequency was lowest when the robot just used pointing gestures, and the frequency was highest when it used both gazing and pointing gestures. These result suggest that not only robot pointing gestures but also gazing gestures affect entrainment. We conclude that the entrainment of pointing gestures might improve a robot's ability to recognize them.