iCub-HRI: A Software Framework for Complex Human-Robot Interaction Scenarios on the iCub Humanoid Robot.
iCub-HRI: A Software Framework for Complex Human-Robot Interaction Scenarios on the iCub Humanoid Robot.
复制标题
DOI：
10.3389/frobt.2018.00022
复制
发表时间：
2018
影响因子：
3.4
通讯作者：
Verschure PFMJ
中科院分区：
文献类型：
--
作者：
Fischer T;Puigbò JY;Camilleri D;Nguyen PDH;Moulin-Frier C;Lallée S;Metta G;Prescott TJ;Demiris Y;Verschure PFMJ
在像iCub这样的人形机器人中生成复杂的、类似人类的行为需要集成广泛的开源组件和可扩展的认知架构。因此，我们提出了iCub-HRI库，它为与感知（对象识别，代理跟踪，语音识别和触摸检测），对象操作（基本和复杂的运动动作）和社交互动（语音合成和联合注意力）相关的组件提供了方便的包装器，作为一个C++库与Java（允许在Matlab中使用iCub-HRI）和Python绑定。除了以前集成的组件之外，该库还允许简单扩展到新组件，并通过适应组件之间接口的变化来快速原型化。我们还提供了一组模块，利用该库，如高级知识获取模块和动作识别模块。所提出的架构已成功地用于一个复杂的人机交互场景，涉及收购的语言能力，执行目标导向的行为和表达的口头叙述的机器人的经验在世界上。本文附带的是一个教程，允许复制这种相互作用的一个子集。该架构旨在让研究人员熟悉iCub生态系统，以及专家用户，我们希望该库在iCub社区中得到广泛使用。
Generating complex, human-like behavior in a humanoid robot like the iCub requires the integration of a wide range of open source components and a scalable cognitive architecture. Hence, we present the iCub-HRI library which provides convenience wrappers for components related to perception (object recognition, agent tracking, speech recognition, and touch detection), object manipulation (basic and complex motor actions), and social interaction (speech synthesis and joint attention) exposed as a C++ library with bindings for Java (allowing to use iCub-HRI within Matlab) and Python. In addition to previously integrated components, the library allows for simple extension to new components and rapid prototyping by adapting to changes in interfaces between components. We also provide a set of modules which make use of the library, such as a high-level knowledge acquisition module and an action recognition module. The proposed architecture has been successfully employed for a complex human–robot interaction scenario involving the acquisition of language capabilities, execution of goal-oriented behavior and expression of a verbal narrative of the robot’s experience in the world. Accompanying this paper is a tutorial which allows a subset of this interaction to be reproduced. The architecture is aimed at researchers familiarizing themselves with the iCub ecosystem, as well as expert users, and we expect the library to be widely used in the iCub community.