Abstract
This paper describes the development of a reactive behavioral response framework for the tabletop robot Haru. The framework enables the robot to react to external stimuli through a repertoire of expressive routines. The behavioral response framework is inspired by the simple reactive behaviors of organisms (e.g. reflexes) based on a bottom-up attention model. First, a participatory study for behavior elicitation was conducted. We explored the possible expressive behaviors of the robot and the possible stimuli trigger. These stimuli-response (S-R) pairs are designed befitting the robot’s characteristics. Then, we developed a perception and a reactive behavior module that automatically translates any perceived stimulus into expressive behavioral responses. We evaluated the proposed S-R framework using Haru in an interaction setting and our results show an increase in human attention activity indicative of its positive impact to conveying the robot’s sense of agency.
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Gomez, R. et al. (2021). Developing a Robot’s Empathetic Reactive Response Inspired by a Bottom-Up Attention Model. In: Li, H., et al. Social Robotics. ICSR 2021. Lecture Notes in Computer Science(), vol 13086. Springer, Cham. https://doi.org/10.1007/978-3-030-90525-5_8
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