Real Time Responsive Animation with Personality
IEEE Transactions on Visualization and Computer Graphics
Comparing a computer agent with a humanoid robot
Proceedings of the ACM/IEEE international conference on Human-robot interaction
Head movement control in visually guided tasks: Postural goal and optimality
Computers in Biology and Medicine
How quickly should communication robots respond?
Proceedings of the 3rd ACM/IEEE international conference on Human robot interaction
Visual attention in spoken human-robot interaction
Proceedings of the 4th ACM/IEEE international conference on Human robot interaction
Proceedings of the 6th international conference on Human-robot interaction
Conversational gaze mechanisms for humanlike robots
ACM Transactions on Interactive Intelligent Systems (TiiS)
Generation of nodding, head tilting and eye gazing for human-robot dialogue interaction
HRI '12 Proceedings of the seventh annual ACM/IEEE international conference on Human-Robot Interaction
Changes in verbal and nonverbal conversational behavior in long-term interaction
Proceedings of the 14th ACM international conference on Multimodal interaction
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Gaze aversion-the intentional redirection away from the face of an interlocutor-is an important nonverbal cue that serves a number of conversational functions, including signaling cognitive effort, regulating a conversation's intimacy level, and managing the conversational floor. In prior work, we developed a model of how gaze aversions are employed in conversation to perform these functions. In this paper, we extend the model to apply to conversational robots, enabling them to achieve some of these functions in conversations with people. We present a system that addresses the challenges of adapting human gaze aversion movements to a robot with very different affordances, such as a lack of articulated eyes. This system, implemented on the NAO platform, autonomously generates and combines three distinct types of robot head movements with different purposes: face-tracking movements to engage in mutual gaze, idle head motion to increase lifelikeness, and purposeful gaze aversions to achieve conversational functions. The results of a human-robot interaction study with 30 participants show that gaze aversions implemented with our approach are perceived as intentional, and robots can use gaze aversions to appear more thoughtful and effectively manage the conversational floor.