An embodied interaction robots system based on speech
An embodied interaction robots system based on speech
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基于语音的实体交互机器人系统
DOI：
10.1109/roman.1999.900344
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发表时间：
1999
期刊：
影响因子：
--
通讯作者：
H. Ogawa
中科院分区：
文献类型：
--
作者：
Tomio Watanabe;M. Okubo;H. Ogawa
提出了基于语音的实体交互机器人系统的概念，通过生成与语音相关的机器人运动来辅助人类交互。对于根据说话者的语音突发停顿来估计听者点头的基本人类交互模型，移动平均（MA）模型的有效性通过预测的鲁棒性得到了证明。然后，开发了由两个具有说话者和听者功能的交互机器人组成的系统原型，其中包含两个模型：一个是听者的反应模型，其中点头、眨眼以及头部、手臂和身体的运动通过语音突发暂停到点头的MA模型来估计；另一种是说话者的身体反应模型，其中头部、手臂和身体的运动是通过其自己的语音突发暂停对头部运动的MA模型来估计的。最后，通过人机交互中的感官评估和行为分析，证明了系统身体交互的有效性。
The concept of an embodied interaction robots system based on speech is proposed for assisting human interaction by generating the motions of robots coherently related to speech. For an essential human interaction model which estimates a listener's nodding on the basis of speaker's burst-pause of speech, the validity of a moving-average (MA) model is demonstrated in the robustness of prediction. Then, the prototype of the proposed system which consists of 2 interaction robots with both functions of speaker and listener is developed in which two models are incorporated: one is a listener's reaction model in which nodding, blinking and the motions of head, arms and body are estimated by the MA model of the burst-pause of speech to the nodding; the other is a speaker's bodily reaction model in which the motions of head, arms and body are estimated by its own MA model of the burst-pause of speech to the head motion. Finally, by the sensory evaluation and behavioral analysis in human-robot interaction, the effectiveness of the system's bodily interaction is demonstrated.