Concept for behavior generation for the humanoid robot head ROMAN based on habits of interaction

摘要

Natural human-robot interaction is an important research topic in the field of humanoid robotics. Because more than 60% of human interaction is conducted non-verbally motion generation for a humanoid robot is of enormous importance for human-robot interaction. The content of this paper is a biological inspired system for describing and generating expressions by combining the simple habits of interaction of several single motors or microphones. Depending on these combinations all expressions and especially combinations of expressions of the robot can be described in a technical way. The implementation of the habits of interaction is realized with a behavior based approach. That allows to combine different expressions and to vary their intensity. In addition the results of different experiments realized to check the capability of the interaction habit approach are presented. Furthermore the mechatronical design of the humanoid robot head ROMAN is given.