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

*この研究の対応する著者

研究成果: Conference contribution

27 被引用数 (Scopus)

抄録

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.

本文言語English
ホスト出版物のタイトル2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
ページ1542-1548
ページ数7
DOI
出版ステータスPublished - 2005
外部発表はい
イベントIEEE IRS/RSJ International Conference on Intelligent Robots and Systems, IROS 2005 - Edmonton, AB
継続期間: 2005 8月 22005 8月 6

Other

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

ASJC Scopus subject areas

  • 人工知能
  • コンピュータ ビジョンおよびパターン認識
  • 人間とコンピュータの相互作用
  • 制御およびシステム工学

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