Timing control of utterance and body motion in human-robot interaction

Towards developing robots that are capable of communicating in dasianaturalpsila ways with humans, we believe that it is important to study, and note any important interrelation between, both verbal and non-verbal information in human communication. The model of a timing control system was developed based on a previous study that analyzed the utterance and body motions in the context of human-human communication. This paper presents the realization of this timing control system for the purpose of human-robot interaction, implemented on the Wakamaru robot platform.