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Behavioral overlays for non-verbal communication expression on a humanoid robot
Brooks A., Arkin R. Autonomous Robots22 (1):55-74,2007.Type:Article
Date Reviewed: Oct 15 2007

Human-robot interaction is being enhanced by the development and implementation of nonverbal communication display, or body language, for humanoid robots. This is achieved by building novel behavioral overlay mechanisms that will map the internal emotional states of the robot to its preexisting external motor expressions. Additionally, a para-emotional framework is integrated to preserve the robot’s individuality.

This paper is divided into four major parts. The first covers proxemics and body language, where a study targets the spatial relationships, known as proxemics, of the robot according to its emotional states, in accordance with the robot’s movements and postures, known as kinetics. The second part presents a mathematical foundation for the novel behavioral overlay model. The third part tackles robot relationships and attitudes. In this part, further mathematical analysis is provided, with diagrams illustrating relationships and attitude structures the robot could imitate (and dynamically adapt over time, as intimate, personal, social, and public) in relation to its emotional states, such as familiarity or trust, attraction, attachment, superiority, inferiority, and confidence. The goal of such a modeling endeavor is to reach a “robot complete personality.” A realistic and advanced system architecture is then implemented on the Sony QRIO humanoid robot. The last part interprets the internal memory and sensual states of the robot on an overlaid motor state. The model ensures the continual functionality of any preexisting robot activity in real time, while expanding new channels of communication the robot could have.

The paper provides fundamental grounding and in-depth knowledge for any researcher, scientist, or engineer interested in the field of human-robot interaction and affective computing. Impressive figures, illustrations, graphs, and architectures strengthen the work and increase its value.

Reviewer:  Mario Antoine Aoun Review #: CR134835 (0808-0804)
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