Title page for ETD etd-042611-100248

Document Type	thesis
Author Name	Holroyd, Aaron
URN	etd-042611-100248
Title	Generating Engagement Behaviors in Human-Robot Interaction
Degree	MS
Department	Computer Science
Advisors	Charles Rich, Advisor David Brown, Reader
Keywords	open source robot operating system ROS humanoid engagement generating computer science hri interaction BML realizer human-robot behavior markup language
Date of Presentation/Defense	2011-04-26
Availability	unrestricted
Abstract Based on a study of the engagement process between humans, I have developed models for four types of connection events involving gesture and speech: directed gaze, mutual facial gaze, adjacency pairs and backchannels. I have developed and validated a reusable Robot Operating System (ROS) module that supports engagement between a human and a humanoid robot by generating appropriate connection events. The module implements policies for adding gaze and pointing gestures to referring phrases (including deictic and anaphoric references), performing end-of-turn gazes, responding to human-initiated connection events and maintaining engagement. The module also provides an abstract interface for receiving information from a collaboration manager using the Behavior Markup Language (BML) and exchanges information with a previously developed engagement recognition module. This thesis also describes a Behavior Markup Language (BML) realizer that has been developed for use in robotic applications. Instead of the existing fixed-timing algorithms used with virtual agents, this realizer uses an event-driven architecture, based on Petri nets, to ensure each behavior is synchronized in the presence of unpredictable variability in robot motor systems. The implementation is robot independent, open-source and uses the Robot Operating System (ROS).
Files	aholroyd.pdf

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