Faculty Advisor

Charles Rich

Faculty Advisor

David Brown

Identifier

etd-042611-100248

Abstract

Based on a study of the engagement process between humans, I have developed models for four types of connection events involving gesture and speech: directed gaze, mutual facial gaze, adjacency pairs and backchannels. I have developed and validated a reusable Robot Operating System (ROS) module that supports engagement between a human and a humanoid robot by generating appropriate connection events. The module implements policies for adding gaze and pointing gestures to referring phrases (including deictic and anaphoric references), performing end-of-turn gazes, responding to human-initiated connection events and maintaining engagement. The module also provides an abstract interface for receiving information from a collaboration manager using the Behavior Markup Language (BML) and exchanges information with a previously developed engagement recognition module. This thesis also describes a Behavior Markup Language (BML) realizer that has been developed for use in robotic applications. Instead of the existing fixed-timing algorithms used with virtual agents, this realizer uses an event-driven architecture, based on Petri nets, to ensure each behavior is synchronized in the presence of unpredictable variability in robot motor systems. The implementation is robot independent, open-source and uses the Robot Operating System (ROS).

Publisher

Worcester Polytechnic Institute

Degree Name

MS

Department

Computer Science

Project Type

Thesis

Date Accepted

2011-04-26

Accessibility

Unrestricted

Subjects

open source, robot operating system, ROS, humanoid, engagement, generating, computer science, hri, interaction, BML realizer, human-robot, behavior markup language

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