Based on analysis of human-human interactions, we have developed an initial model of engagement for human-robot interaction which includes the concept of connection events, consisting of: directed gaze, mutual facial gaze, conversational adjacency pairs, and backchannels. We implemented the model in the open source Robot Operating System and conducted a human-robot interaction experiment to evaluate it.
Worcester Polytechnic Institute
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Ponsler, Brett, "Recognizing Engagement Behaviors in Human-Robot Interaction" (2011). Masters Theses (All Theses, All Years). 109.
open source, robot operating system, ROS, humanoid, engagement, recognizing, computer science, hri, interaction, human-robot