iCub-HRI: A software framework for complex human-robot interaction scenarios on the iCub humanoid robot

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Title: iCub-HRI: A software framework for complex human-robot interaction scenarios on the iCub humanoid robot
Authors: Fischer, T
Puigbo, J-Y
Camilleri, D
Nguyen, PDH
Moulin-Frier, C
Lallee, S
Metta, G
Prescott, TJ
Demiris, Y
Verschure, P
Item Type: Journal Article
Abstract: Generating complex, human-like behaviour in a humanoid robot like the iCub requires the integration of a wide range of open source components and a scalable cognitive architecture. Hence, we present the iCub-HRI library which provides convenience wrappers for components related to perception (object recognition, agent tracking, speech recognition, touch detection), object manipulation (basic and complex motor actions) and social interaction (speech synthesis, joint attention) exposed as a C++ library with bindings for Java (allowing to use iCub-HRI within Matlab) and Python. In addition to previously integrated components, the library allows for simple extension to new components and rapid prototyping by adapting to changes in interfaces between components. We also provide a set of modules which make use of the library, such as a high-level knowledge acquisition module and an action recognition module. The proposed architecture has been successfully employed for a complex human-robot interaction scenario involving the acquisition of language capabilities, execution of goal-oriented behaviour and expression of a verbal narrative of the robot's experience in the world. Accompanying this paper is a tutorial which allows a subset of this interaction to be reproduced. The architecture is aimed at researchers familiarising themselves with the iCub ecosystem, as well as expert users, and we expect the library to be widely used in the iCub community.
Issue Date: 12-Mar-2018
Date of Acceptance: 21-Feb-2018
ISSN: 2296-9144
Publisher: Frontiers Media
Start Page: 1
End Page: 9
Journal / Book Title: Frontiers in Robotics and AI
Volume: 5
Copyright Statement: © 2018 Fischer, Puigbò, Camilleri, Nguyen, Moulin-Frier, Lallée, Metta, Prescott, Demiris and Verschure. This is an open-access article distributed under the terms of the Creative Commons Attribution License (CC BY). The use, distribution or reproduction in other forums is permitted, provided the original author(s) and the copyright owner are credited and that the original publication in this journal is cited, in accordance with accepted academic practice. No use, distribution or reproduction is permitted which does not comply with these terms.
Sponsor/Funder: Commission of the European Communities
Commission of the European Communities
Funder's Grant Number: 270490
Keywords: Robotics
iCub humanoid
Human-Robot Interaction
Software architecture
Publication Status: Published
Article Number: 22
Appears in Collections:Faculty of Engineering
Electrical and Electronic Engineering

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