Engaging human-to-robot attention using conversational gestures and lip-synchronization


Human-Robot Interaction (HRI) is one of the most important subfields of social robotics. In several applications,text-to-speech (TTS) techniques are used by robots to provide feedback to humans. In this respect, a natural synchronization between the synthetic voice and the mouth of the robot could contribute to improve the interaction experience. This paper presents an algorithm for synchronizing Text-To-Speech systems with robotic mouths. The proposed approach estimates the appropriate aperture of the mouth based on the entropy of the synthetic audio stream provided by the TTS system. The paper also describes the cost-efficient robotic head which has been used in the experiments and introduces the use of conversational gestures for engaging Human-Robot Interaction. The system,which has been implemented in C++ and can perform in real-time, is freely available as part of the RoboComp open-source robotics framework. Finally, the paper presents the results of the opinion poll that has been conducted in order to evaluate the interaction experience

Publication DOI: https://doi.org/10.14198/jopha.2012.6.1.02
Divisions: College of Engineering & Physical Sciences > School of Informatics and Digital Engineering > Computer Science
College of Engineering & Physical Sciences
College of Engineering & Physical Sciences > Aston Institute of Urban Technology and the Environment (ASTUTE)
Additional Information: This item is licensed under a Creative Commons License CC BY-SA 3.0. Funding: This work has been partially supported by the Junta de Extremadura project IB10062 and by the Spanish Ministry of Science and Innovation with grant IPT-430000-2010-002.
Uncontrolled Keywords: Robotics head,Lip Synchronization,Human Robot Interaction
Publication ISSN: 1888-0258
Full Text Link:
Related URLs: http://ljmanso. ... hronization.pdf (Author URL)
PURE Output Type: Article
Published Date: 2012-01-01
Authors: Burgos, Felipe Cid
Fernández-Arguelles, Luis Jesús Manso (ORCID Profile 0000-0003-2616-1120)
Calderita, Luis V.
Sánchez, Agustín
Trujillo, Pedro Núñez



Version: Published Version

License: Creative Commons Attribution Share Alike

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