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@article{Fischer:2018:10.3389/frobt.2018.00022,
author = {Fischer, T and Puigbo, J-Y and Camilleri, D and Nguyen, PDH and Moulin-Frier, C and Lallee, S and Metta, G and Prescott, TJ and Demiris, Y and Verschure, P},
doi = {10.3389/frobt.2018.00022},
journal = {Frontiers in Robotics and AI},
pages = {1--9},
title = {iCub-HRI: A software framework for complex human-robot interaction scenarios on the iCub humanoid robot},
url = {http://dx.doi.org/10.3389/frobt.2018.00022},
volume = {5},
year = {2018}
}

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TY  - JOUR
AB  - Generating complex, human-like behaviour in a humanoid robot like the iCub requires the integration of a wide range of open source components and a scalable cognitive architecture. Hence, we present the iCub-HRI library which provides convenience wrappers for components related to perception (object recognition, agent tracking, speech recognition, touch detection), object manipulation (basic and complex motor actions) and social interaction (speech synthesis, joint attention) exposed as a C++ library with bindings for Java (allowing to use iCub-HRI within Matlab) and Python. In addition to previously integrated components, the library allows for simple extension to new components and rapid prototyping by adapting to changes in interfaces between components. We also provide a set of modules which make use of the library, such as a high-level knowledge acquisition module and an action recognition module. The proposed architecture has been successfully employed for a complex human-robot interaction scenario involving the acquisition of language capabilities, execution of goal-oriented behaviour and expression of a verbal narrative of the robot's experience in the world. Accompanying this paper is a tutorial which allows a subset of this interaction to be reproduced. The architecture is aimed at researchers familiarising themselves with the iCub ecosystem, as well as expert users, and we expect the library to be widely used in the iCub community.
AU  - Fischer,T
AU  - Puigbo,J-Y
AU  - Camilleri,D
AU  - Nguyen,PDH
AU  - Moulin-Frier,C
AU  - Lallee,S
AU  - Metta,G
AU  - Prescott,TJ
AU  - Demiris,Y
AU  - Verschure,P
DO  - 10.3389/frobt.2018.00022
EP  - 9
PY  - 2018///
SN  - 2296-9144
SP  - 1
TI  - iCub-HRI: A software framework for complex human-robot interaction scenarios on the iCub humanoid robot
T2  - Frontiers in Robotics and AI
UR  - http://dx.doi.org/10.3389/frobt.2018.00022
UR  - https://www.frontiersin.org/articles/10.3389/frobt.2018.00022
UR  - http://hdl.handle.net/10044/1/57471
VL  - 5
ER  -

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