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Designing and evaluating a social gaze-control system for a humanoid robot

Zaraki, Abolfazl; Mazzei, Daniele; Giuliani, Manuel; De Rossi, Danilo

Authors

Abolfazl Zaraki

Daniele Mazzei

Manuel Giuliani Manuel.Giuliani@uwe.ac.uk
Professor in Embedded Cognitive AI for Robotics

Danilo De Rossi



Abstract

This paper describes a context-dependent social gaze-control system implemented as part of a humanoid social robot. The system enables the robot to direct its gaze at multiple humans who are interacting with each other and with the robot. The attention mechanism of the gaze-control system is based on features that have been proven to guide human attention: nonverbal and verbal cues, proxemics, the visual field of view, and the habituation effect. Our gaze-control system uses Kinect skeleton tracking together with speech recognition and SHORE-based facial expression recognition to implement the same features. As part of a pilot evaluation, we collected the gaze behavior of 11 participants in an eye-tracking study. We showed participants videos of two-person interactions and tracked their gaze behavior. A comparison of the human gaze behavior with the behavior of our gaze-control system running on the same videos shows that it replicated human gaze behavior 89% of the time. © 2013 IEEE.

Journal Article Type Article
Publication Date Jan 1, 2014
Journal IEEE Transactions on Human-Machine Systems
Publisher Institute of Electrical and Electronics Engineers
Peer Reviewed Peer Reviewed
Volume 44
Issue 2
Pages 157-168
APA6 Citation Zaraki, A., Mazzei, D., Giuliani, M., & De Rossi, D. (2014). Designing and evaluating a social gaze-control system for a humanoid robot. IEEE Transactions on Human-Machine Systems, 44(2), 157-168. https://doi.org/10.1109/THMS.2014.2303083
DOI https://doi.org/10.1109/THMS.2014.2303083
Keywords active vision, context-dependent social gaze behavior, human-robot interaction, scene analysis, social attention
Publisher URL http://dx.doi.org/10.1109/THMS.2014.2303083
Related Public URLs http://ieeexplore.ieee.org/document/6736067/?reload=true&tp=&arnumber=6736067&queryText%3DDesigning%20and%20Evaluating%20a%20Social%20Gaze%20Control%20System%20for%20a%20Humanoid%20Robot
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