Human-robot interface by verbal and nonverbal behaviors

This paper proposes a method of removing ambiguities in robot tasks by a multimodal human-robot interface consisting of verbal and nonverbal communication. Such ambiguities often arise from failures of robot vision systems. However, it is not easy to solve this problem only by improving computer vision techniques. Thus, our robot asks a human such a question that a natural reply to it will contain helpful information to adapt the vision system to the current situation. We present a robot system that can bring objects ordered by a human through verbal and nonverbal behaviors