TWO LAYERS ACTION INTEGRATION FOR HRI - Action Integration with Attention Focusing for Interactive Robots

Yasser Mohammad, Toyoaki Nishida

2008

Abstract

Behavior architectures are widely used to program interactive robots. In these architectures multiple behaviors are usually running concurrently so a mechanism for integrating the resulting actuation commands from these behaviors into actual actuation commands sent to the robot’s motor system must be faced. Different architectures proposed different action integration mechanisms that range from distributed to central integration. In this paper an analysis of the special requirements that HRI imposes on the action integration system is given. Based on this analysis a novelle hybrid action integration mechanism that combines distributed attention focusing with a fast central integration algorithm is presented in the framework of the EICA architecture. The proposed system was tested in a simulation of a listener robot that aimed to achieve human-like nonverbal listening behavior in real world interactions. The analysis of the system showed that the proposed mechanism can generate coherent human-like behavior while being robust against signal correlated noise.

References

  1. Argyle, M. (2001). Bodily Communication. Routledge; New Ed edition.
  2. Arkin, R. C. (1993). Biological neural networks in invertebrate neuroethology and robotics, chapter Modeling neural function at the schema level: Implications and results for robotic control, page 17. Academic Press.
  3. Breazeal, C. Kidd, C. T. A. H. G. B. M. (2005). Effects of nonverbal communication on efficiency and robustness in human-robot teamwork. In 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, 2005. (IROS 2005), pages 708-713.
  4. Brooks, R. A. (1986). A robust layered control system for a mobile robot. IEEE Journal of Robotics and Automation, 2(1):14-23.
  5. Cohen, P. and Levesque, H. (1990). Intention is choice with commitment. Artificial Intelligence, 42:213-261.
  6. Ishiguro, H., Kanda, T., Kimoto, K., and Ishida, T. (1999). A robot architecture based on situated modules. In IEEE/RSJ Conference on Intelligent Robots and Systems 1999 (IROS 1999), volume 3, pages 1617-1624. IEEE.
  7. Kanda, T., Kamasima, M., Imai, M., Ono, T., Sakamoto, D., Ishiguro, H., and Anzai, Y. (2007). A humanoid robot that pretends to listen to route guidance from a human. Autonomous Robots, 22(1):87-100.
  8. Maes, P. (1989). How to do the right thing. Connection Science, 1(3):291-323.
  9. Mohammad, Y. F. O. and Nishida, T. (2007). A new, hri inspired, view of intention. In AAAI-07 Workshop on Human Implications of Human-Robot Interactions, pages 21-27.
  10. Mohammad, Y. F. O., Ohya, T., Hiramatsu, T., Sumi, Y., and Nishida, T. (2007). Embodiment of knowledge into the interaction and physical domains using robots. In International Conference on Control, Automation and Systems, pages 737-744.
  11. Nicolescu, M. N. and Mataric, M. J. (2002). A hierarchical architecture for behavior-based robots. In AAMAS 7802: Proceedings of the first international joint conference on Autonomous agents and multiagent systems, pages 227-233, New York, NY, USA. ACM.
  12. Perez, M. C. (2003). A Proposal of a Behavior-based Control Architecture with Reinforcement Learning for an Autonomous Underwater Robot. PhD thesis, University of Girona.
  13. PhaseSpace (2007). http://www.phasespace.com/.
  14. S Karim, L Sonenberg, A. T. (2006). A hybrid architecture combining reactive plan execution and reactive learning. In 9th Biennial Pacific Rim International Conference on Artificial Intelligence (PRICAI).
  15. Steels, L. (1993). The artifcial route to artifcial intelligence. Building situated embodied agents, chapter Building agents with autonomous behaviour systems. Lawrence Erlbaum Associates, New Haven.
Download


Paper Citation


in Harvard Style

Mohammad Y. and Nishida T. (2008). TWO LAYERS ACTION INTEGRATION FOR HRI - Action Integration with Attention Focusing for Interactive Robots . In Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO, ISBN 978-989-8111-31-9, pages 41-48. DOI: 10.5220/0001482600410048


in Bibtex Style

@conference{icinco08,
author={Yasser Mohammad and Toyoaki Nishida},
title={TWO LAYERS ACTION INTEGRATION FOR HRI - Action Integration with Attention Focusing for Interactive Robots},
booktitle={Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,},
year={2008},
pages={41-48},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0001482600410048},
isbn={978-989-8111-31-9},
}


in EndNote Style

TY - CONF
JO - Proceedings of the Fifth International Conference on Informatics in Control, Automation and Robotics - Volume 4: ICINCO,
TI - TWO LAYERS ACTION INTEGRATION FOR HRI - Action Integration with Attention Focusing for Interactive Robots
SN - 978-989-8111-31-9
AU - Mohammad Y.
AU - Nishida T.
PY - 2008
SP - 41
EP - 48
DO - 10.5220/0001482600410048