Generating multi-modal robot behavior based on a virtual agent framework

摘要

One of the crucial steps in the attempt to build sociable, communicative humanoid robots is to endow them with expressive non-verbal behaviors along with speech. One such behavior is gesture, frequently used by human speakers to emphasize, supplement, or even complement what they express in speech. The generation of speech-accompanying robot gesture together with an evaluation of the effects of this multi-modal behavior is still largely unexplored. We present an approach to systematically address this issue by enabling the humanoid Honda robot to flexibly produce synthetic speech and expressive gesture from conceptual representations at runtime, while not being limited to a predefined repertoire of motor actions in this. Since this research challenge has already been tackled in various ways within the domain of virtual conversational agents, we build upon experiences gained with speech-gesture production models for virtual humans.