A saliency-driven robotic head with bio-inspired saccadic behaviors for social robotics

Authors:
Hongsheng He;Shuzhi Sam Ge;Zhengchen Zhang
Affiliations:
State Key Laboratory of Synthetic Automation of Process Industries, Northeastern University, Shenyang, People's Republic of China 110300 and Department of Electrical and Computer Engineering, Nati ...;Social Robotics Laboratory, Interactive Digital Media Institute, and Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore 117576 and Robot Inst ...;Social Robotics Laboratory, Interactive Digital Media Institute, and Department of Electrical and Computer Engineering, National University of Singapore, Singapore, Singapore 117576
Venue:
Autonomous Robots
Year:
2014

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Abstract

This paper presents a robotic head for social robots to attend to scene saliency with bio-inspired saccadic behaviors. Scene saliency is determined by measuring low-level static scene information, motion, and object prior knowledge. Towards the extracted saliency spots, the designed robotic head is able to turn gazes in a saccadic manner while obeying eye---head coordination laws with the proposed control scheme. The results of the simulation study and actual applications show the effectiveness of the proposed method in discovering of scene saliency and human-like head motion. The proposed techniques could possibly be applied to social robots to improve social sense and user experience in human---robot interaction.