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Multimodal Interaction between a Humanoid Robot and Humans

The purpose of our research is to develop a humanoid museum tour guide robot that performs intuitive, multimodal interaction with multiple people. Our robots Robotinho and Fritz use speech, facial expressions, eye-gaze, and gestures to interact with people. Depending on the audio-visual input, the robots shift their attention between different people in order to involve them into the conversation. Robotinho and Fritz perform human-like arm gestures during an interaction and also use pointing gestures generated with eyes, head, and arms to direct the attention of their communication partners towards objects of interest. To express the emotional state, the robot generate facial expressions and adapt the speech synthesis.

In contrast to its predecessor Fritz, Robotinho is not only used in a static scenario and possesses several new features such as the movable trunk, a more expressive head with movable eye lids, and an additional arm joint.

Related publications:

  • The Humanoid Museum Tour Guide Robotinho.
    F. Faber, M. Bennewitz, C. Eppner, A. Goeroeg, C. Gonsior, D. Joho, M. Schreiber, and S. Behnke.
    In: Proceedings of the 18th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2009.
  • Intuitive Multimodal Interaction with Communication Robot Fritz. M. Bennewitz, F. Faber, D. Joho, and S. Behnke. In: M. Hackel, editor, Humanoid Robots, Human-like Machines, pp. 613-624, I-Tech Education and Publishing, 2007.
  • Fritz - A Humanoid Communication Robot. M. Bennewitz, F. Faber, D. Joho, and S. Behnke. In: Proceedings of the 16th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN), 2007.
  • Towards a Humanoid Museum Guide Robot that Interacts with Multiple Persons. M. Bennewitz, F. Faber, D. Joho, M. Schreiber, and S. Behnke. In: Proceedings of the IEEE-RAS International Conference on Humanoid Robots (Humanoids), 2005.

Please check this webpage for further related publications in the year 2005.

Videos:

  Robotinho acting as a tourguide in the corridor of our university building. This video (wmv, 29 MB) shows how the robot guides visitors to exhibits and presents them. Robotinho uses multiple modalities to interact with people in a natural way.
  Before, Robotinho was used in a static scenario and explained some smaller robots which were placed on a table in the front. This video (wmv, 19 MB) shows the multimodal interaction between Robotinho and humans.
  Our communication robot Fritz explained some smaller robots to the visitors at the Science Days in the Europa-Park Rust, October 2006. This video (wmv, 28 MB) shows the interaction between Fritz and the visitors.

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