Perception Systems for Naturally Interacting Humanoid Robots

Abstract — This paper presents a design concept and a exemplary realization of a perception system for naturally interacting humanoid robots. Relevant non-verbal interaction capabilities are selected based on psychological research. These interaction capabilities are transferred into a multi-functional user model which is exemplary implemented for interactive game scenarios. Benefits of this perception system design in comparison to existing realizations are a modular perception concept and the possibility to transfer psychological inter-personal research directly into human-robot interaction scenarios. I