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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 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 languageEnglish
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
Pages1542-1548
Number of pages7
DOIs
Publication statusPublished - 2005
Externally publishedYes
EventIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB
Duration: 2005 Aug 22005 Aug 6

Other

OtherIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005
CityEdmonton, AB
Period05/8/205/8/6

Fingerprint

Robots
Planning

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

Cite this

Nakano, M., Hasegawa, Y., Nakadai, K., Nakamura, T., Takeuchi, J., Torii, T., ... Okuno, H. G. (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 (pp. 1542-1548). [1545198] https://doi.org/10.1109/IROS.2005.1545198

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 proceedingConference 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
Nakano M, Hasegawa Y, Nakadai K, Nakamura T, Takeuchi J, Torii T et al. 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. 2005. p. 1542-1548. 1545198 https://doi.org/10.1109/IROS.2005.1545198
Nakano, Mikio ; Hasegawa, Yuji ; Nakadai, Kazuhiro ; Nakamura, Takahiro ; Takeuchi, Johane ; Torii, Toyotaka ; Tsujino, Hiroshi ; Kanda, Naoyuki ; Okuno, Hiroshi G. / A two-layer model for behavior and dialogue planning in conversational service robots. 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS. 2005. pp. 1542-1548
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