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iCub-HRI: a software framework for complex human-robot interaction scenarios on the iCub humanoid robot

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dc.contributor.author Fischer, Tobias
dc.contributor.author Puigbò Llobet, Jordi-Ysard
dc.contributor.author Camilleri, Daniel
dc.contributor.author Nguyen, Phuong D.H.
dc.contributor.author Moulin-Frier, Clément
dc.contributor.author Lallée, Stéphane
dc.contributor.author Metta, Giorgio
dc.contributor.author Prescott, Tony J.
dc.contributor.author Demiris, Yiannis
dc.contributor.author Verschure, Paul F. M. J.
dc.date.accessioned 2020-03-02T17:19:59Z
dc.date.available 2020-03-02T17:19:59Z
dc.date.issued 2018
dc.identifier.citation Fischer T, Puigbò JY, Camilleri D, Nguyen PDH, Moulin-Frier C, Lallée S, Metta G, Prescott TJ, Demiris Y, Verschure PFMJ. iCub-HRI: a software framework for complex human-robot interaction scenarios on the iCub humanoid robot. Front Robot AI. 2018 Mar 12;5(MAR):22. DOI: 10.3389/frobt.2018.00022
dc.identifier.issn 2296-9144
dc.identifier.uri http://hdl.handle.net/10230/43760
dc.description.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.
dc.description.sponsorship The research leading to these results has received funding under the European Union’s Seventh Framework Programme (FP/2007-2013)/ERC Grant Agreement n. FP7-ICT-612139 (WYSIWYD—What You Say Is What You Did) and FP7-ICT-270490 (EFAA—The Experimental Functional Android Assistant). PN was supported by a Marie Curie Early Stage Researcher Fellowship (H2020-MSCA-ITA, SECURE 642667). PV was supported by the ERC advanced grant 341196 (cDAC—Role of Consciousness in Adaptive Behavior).
dc.format.mimetype application/pdf
dc.language.iso eng
dc.publisher Frontiers
dc.relation.ispartof Frontiers Robotics AI. 2018 Mar 12;5(MAR):22
dc.rights © 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) https://creativecommons.org/licenses/by/4.0/. 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.
dc.rights.uri https://creativecommons.org/licenses/by/4.0/
dc.title iCub-HRI: a software framework for complex human-robot interaction scenarios on the iCub humanoid robot
dc.type info:eu-repo/semantics/article
dc.identifier.doi http://dx.doi.org/10.3389/frobt.2018.00022
dc.subject.keyword Robotics
dc.subject.keyword iCub humanoid
dc.subject.keyword Human-robot interaction
dc.subject.keyword YARP
dc.subject.keyword Software architecture
dc.subject.keyword Code:C++
dc.subject.keyword Code:Python
dc.subject.keyword Code:Java
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/612139
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/270490
dc.relation.projectID info:eu-repo/grantAgreement/EC/H2020/642667
dc.relation.projectID info:eu-repo/grantAgreement/EC/FP7/341196
dc.rights.accessRights info:eu-repo/semantics/openAccess
dc.type.version info:eu-repo/semantics/publishedVersion


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