Towards an open-source social middleware for humanoid robots

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Title: Towards an open-source social middleware for humanoid robots
Authors: Sarabia, M
Ros, R
Demiris, Y
Item Type: Conference Paper
Abstract: Recent examples of robotics middleware including YARP, ROS, and NaoQi, have greatly enhanced the standardisation, interoperability and rapid development of robotics application software. In this paper, we present our research towards an open source middleware to support the development of social robotic applications. In the core of the ability of a robot to interact socially are algorithms to perceive the actions and intentions of a human user. We attempt to provide a computational layer to standardise these algorithms utilising a bioinspired computational architecture known as HAMMER (Hierarchical Attentive Multiple Models for Execution and Recognition) and demonstrate the deployment of such layer on two different humanoid platforms, the Nao and iCub robots. We use a dance interaction scenario to demonstrate the utility of the framework. © 2011 IEEE.
Issue Date: 1-Dec-2011
URI: http://hdl.handle.net/10044/1/12540
DOI: 10.1109/Humanoids.2011.6100883
ISBN: 978-1-61284-866-2
Publisher: IEEE
Start Page: 670
End Page: 675
Copyright Statement: ©2011 IEEE. Personal use of this material is permitted. Permission from IEEE must be obtained for all other uses, in any current or future media, including reprinting/republishing this material for advertising or promotional purposes, creating new collective works, for resale or redistribution to servers or lists, or reuse of any copyrighted component of this work in other works.
Conference Name: International Conference on Humanoid Robotics
Publisher URL: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=6100883
Start Date: 2011-10-26
Finish Date: 2011-10-28
Conference Place: Bled, Slovenia
Appears in Collections:Electrical and Electronic Engineering



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