Human-robot interaction for service robots

Service robots or personal robots are to be used by non-expert users. This requires special attention to the human-robot interaction to provide systems that people are comfortable to use and be around. In this paper a number of different modalities for human-robot interaction are presented and a few systems that exploit such interfaces are outlined. These systems have been used for initial studies of use with non-expert users, the results are briefly summarised and issues for future research are outlined.