Communication robot system based on the handshaking action

This paper discussed a human robot interaction based on the handshaking action. We developed a robot system “HAKUEN” that is composed of a multimedia robot with stereo camera, a wheel type mobile robot and a PC with a microphone. The communication robot approaches and holds out its hand toward the operator according to the voice command. The robot detects the operator´s face based on the pixel values of the flesh tint in the color image. We use the disparity in order to calculate the distance between the robot and the operator. The effectiveness of our system is clarified by several experimental results.