Natural Interaction with a Robotic Head

  • O. Déniz
  • M. Castrillón
  • J. Lorenzo
  • L. Antón-Canalís
Part of the Lecture Notes in Computer Science book series (LNCS, volume 4527)


Social robots are receiving much interest in the robotics community. The most important goal for such robots lies in their interaction capabilities. This work describes the robotic head CASIMIRO, designed and built with the aim of achieving interactions as natural as possible. CASIMIRO is a robot face with 11 degrees of freedom. Currently, the robot has audio-visual attention (based on omnidirectional vision and sound localization abilities), face detection, head gesture recognition, owner detection, etc. The results of interviews with people that interacted with the robot support the idea that the robot has relatively natural communication abilities, although certain aspects should be further developed.


Facial Expression Face Detection Social Robot Sound Localization Natural Interaction 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.


Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.


  1. 1.
    Baars, B.J.: A cognitive theory of consciousness. Cambridge University Press, Cambridge (1988)Google Scholar
  2. 2.
    Bouguet, J.: Pyramidal implementation of the Lucas Kanade feature tracker. Technical report, Intel Corporation, Microprocessor Research Labs, OpenCV documents (1999)Google Scholar
  3. 3.
    Breazeal, C.L.: Designing social robots. MIT Press, Cambridge (2002)Google Scholar
  4. 4.
    Castrillón, M.: On Real-Time Face Detection in Video Streams. An Opportunistic Approach. PhD thesis, Universidad de Las Palmas de Gran Canaria (March 2003)Google Scholar
  5. 5.
    Ebbinghaus, H.: Memory. A Contribution to Experimental Psychology. Teachers College, Columbia University, New York (1913)Google Scholar
  6. 6.
    Hernández-Cerpa, D.J.: Zagaz: Entorno experimental para el tratamiento de conductas en caracteres sintéticos. Master’s thesis, Universidad de Las Palmas de Gran Canaria (2001)Google Scholar
  7. 7.
    Lungarella, M., Metta, G., Pfeifer, R., Sandini, G.: Developmental robotics: a survey. Connection Science 0(0), 1–40 (2004)Google Scholar
  8. 8.
    Martin, A., Phillips, P.J., Przybocki, M., Wilson, C.I.: An introduction to evaluating biometric systems. Computer 56, 56–63 (2000)Google Scholar
  9. 9.
    Oviatt, S.: Taming recognition errors with a multimodal interface. Communications of the ACM 43(9), 45–51 (2000)CrossRefGoogle Scholar
  10. 10.
    Scassellati, B.: Foundations for a Theory of Mind for a Humanoid Robot. PhD thesis, MIT Department of Computer Science and Electrical Engineering (May 2001)Google Scholar
  11. 11.
    Schulte, J., Rosenberg, C., Thrun, S.: Spontaneous short-term interaction with mobile robots in public places. In: Procs. of the IEEE Int. Conference on Robotics and Automation (1999)Google Scholar

Copyright information

© Springer Berlin Heidelberg 2007

Authors and Affiliations

  • O. Déniz
    • 1
  • M. Castrillón
    • 1
  • J. Lorenzo
    • 1
  • L. Antón-Canalís
    • 1
  1. 1.Instituto Universitario de Sistemas Inteligentes, y Aplicaciones Numéricas en Ingeniería, Universidad de Las Palmas de Gran Canaria, Edificio Central del Parque Científico-Tecnológico, 35017 Las PalmasSpain

Personalised recommendations