Designing a human-robot interaction framework for home service robot

This paper presents a human-robot interaction framework that outlines a general structure of future home service robots that are expected to assist humans in their home-based daily activities. We describe three interaction modules - multimodal, cognitive, and emotional interaction modules. Each module takes a different role in the process of human robot interaction. The purpose of multi-modal interaction is to make the interaction convenient for the human, the cognitive interaction is for cooperative sharing of tasks, and the emotional interaction is to maintain a close relationship. The general concept for the systematical software integration and the relationships among the three modules are described.