Worcester Polytechnic Institute Electronic Theses and Dissertations Collection

Title page for ETD etd-011711-092639

Document Typethesis
Author NamePonsler, Brett
TitleRecognizing Engagement Behaviors in Human-Robot Interaction
DepartmentComputer Science
  • Charles Rich, Advisor
  • Joseph Beck, Reader
  • Michael Gennert, Department Head
  • Keywords
  • open source
  • robot operating system
  • ROS
  • humanoid
  • engagement
  • recognizing
  • computer science
  • hri
  • interaction
  • human-robot
  • Date of Presentation/Defense2010-12-16
    Availability unrestricted


    Based on analysis of human-human interactions, we have developed an initial model of engagement for human-robot interaction which includes the concept of connection events, consisting of: directed gaze, mutual facial gaze, conversational adjacency pairs, and backchannels. We implemented the model in the open source Robot Operating System and conducted a human-robot interaction experiment to evaluate it.

  • bponsler.pdf

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