A two-layer model for behavior and dialogue planning in conversational service robots

Mikio Nakano; Yuji Hasegawa; Kazuhiro Nakadai; Takahiro Nakamura; Johane Takeuchi; Toyotaka Torii; Hiroshi Tsujino; Naoyuki Kanda; Hiroshi G. Okuno

doi:10.1109/IROS.2005.1545198

A two-layer model for behavior and dialogue planning in conversational service robots

Mikio Nakano^*, Yuji Hasegawa, Kazuhiro Nakadai, Takahiro Nakamura, Johane Takeuchi, Toyotaka Torii, Hiroshi Tsujino, Naoyuki Kanda, Hiroshi G. Okuno

^*Corresponding author for this work

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

27 Citations (Scopus)

Abstract

This paper presents a model for the behavior and dialogue planning module of conversational service robots. Most of the previously built conversational robots cannot perform dialogue management necessary for accurately recognizing human intentions and providing information to humans. This model integrates robot behavior planning models with spoken dialogue management that is robust enough to engage in mixedinitiative dialogues in specific domains. It has two layers; the upper layer is responsible for global task planning using hierarchical planning and the lower layer engages in local planning by utilizing modules called experts, which are specialized for performing certain kind of tasks by performing physical actions and engaging in dialogues. This model enables switching and canceling tasks based on recognized human intentions. A preliminary implementation of the model, which has been integrated with Honda ASIMO, has shown its effectiveness.

Original language	English
Title of host publication	2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages	1542-1548
Number of pages	7
DOIs	https://doi.org/10.1109/IROS.2005.1545198
Publication status	Published - 2005
Externally published	Yes
Event	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB Duration: 2005 Aug 2 → 2005 Aug 6

Other

Other	IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
City	Edmonton, AB
Period	05/8/2 → 05/8/6

Keywords

Behavior and dialogue planning
Conversational robot
Dialogue management
Service robot

ASJC Scopus subject areas

Artificial Intelligence
Computer Vision and Pattern Recognition
Human-Computer Interaction
Control and Systems Engineering

Access to Document

10.1109/IROS.2005.1545198

Cite this

A two-layer model for behavior and dialogue planning in conversational service robots. / Nakano, Mikio; Hasegawa, Yuji; Nakadai, Kazuhiro; Nakamura, Takahiro; Takeuchi, Johane; Torii, Toyotaka; Tsujino, Hiroshi; Kanda, Naoyuki; Okuno, Hiroshi G.

2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. p. 1542-1548 1545198.

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution

Nakano, M, Hasegawa, Y, Nakadai, K, Nakamura, T, Takeuchi, J, Torii, T, Tsujino, H, Kanda, N & Okuno, HG 2005, A two-layer model for behavior and dialogue planning in conversational service robots. in 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS., 1545198, pp. 1542-1548, IEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005, Edmonton, AB, 05/8/2. https://doi.org/10.1109/IROS.2005.1545198

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AU - Torii, Toyotaka

AU - Tsujino, Hiroshi

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AB - This paper presents a model for the behavior and dialogue planning module of conversational service robots. Most of the previously built conversational robots cannot perform dialogue management necessary for accurately recognizing human intentions and providing information to humans. This model integrates robot behavior planning models with spoken dialogue management that is robust enough to engage in mixedinitiative dialogues in specific domains. It has two layers; the upper layer is responsible for global task planning using hierarchical planning and the lower layer engages in local planning by utilizing modules called experts, which are specialized for performing certain kind of tasks by performing physical actions and engaging in dialogues. This model enables switching and canceling tasks based on recognized human intentions. A preliminary implementation of the model, which has been integrated with Honda ASIMO, has shown its effectiveness.

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A two-layer model for behavior and dialogue planning in conversational service robots

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Keywords

ASJC Scopus subject areas

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