Fischer, T., Puigbò, J.Y., Camilleri, D. et al. (7 more authors) (2018) iCub-HRI: A software framework for complex human-robot interaction scenarios on the iCub humanoid robot. Frontiers in Robotics and AI, 5.
Abstract
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.
Metadata
Item Type: | Article |
---|---|
Authors/Creators: |
|
Copyright, Publisher and Additional Information: | © 2018 Fischer, Puigbò, Camilleri, Nguyen, Moulin-Frier, Lallée, Metta, Prescott, Demiris and Verschure. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms. |
Dates: |
|
Institution: | The University of Sheffield |
Academic Units: | The University of Sheffield > Faculty of Engineering (Sheffield) > Department of Computer Science (Sheffield) |
Funding Information: | Funder Grant number EUROPEAN COMMISSION - FP6/FP7 WYSIWYD - 612139 |
Depositing User: | Symplectic Sheffield |
Date Deposited: | 15 Aug 2018 14:25 |
Last Modified: | 15 Aug 2018 14:25 |
Published Version: | https://doi.org/10.3389/frobt.2018.00022 |
Status: | Published |
Publisher: | Frontiers Media |
Refereed: | Yes |
Identification Number: | 10.3389/frobt.2018.00022 |
Open Archives Initiative ID (OAI ID): | oai:eprints.whiterose.ac.uk:134147 |