Contents. Part I: Images. List of contributing authors XIII Preface 1

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1 Contents List of contributing authors XIII Preface 1 Part I: Images Steve Mushkin My robot 5 I Introduction 5 II Generative-research methodology 6 III What children want from technology 6 A Methodology 7 B Findings and discussion 7 IV Robots 10 A Prior research 10 B Robot study 12 V Conclusions 18 Judith Markowitz Cultural icons 21 I Introduction 21 II Robot as killer 22 A The androids of R.U.R. 23 B The frankenstein monster 26 C Managing killer robots 29 III Robot as servant 31 A Karakuri ningyo 32 B Golem 34 IV Robot as lover 39 A Pygmalion s statue 39 B Robots loving humans 43 C Managing robot love 45 V Conclusion 46 David F. Dufty Android aesthetics: Humanoid robots as works of art 55 I Introduction 55 II The history of automata for art and entertainment 56 A Automata in ancient times 57 B Clockmaking and automata 57

2 VI Contents C Karakuri ningyo 58 D Animatronics 58 E An android as a self portrait: the work of Hiroshi Ishiguro 59 F Hanson robotics 60 III The Philip K. Dick android 61 IV Robot components 62 V Building a dialogue system 63 A Gricean maxims 63 B Architecture 64 C Conversing like Philip K. Dick 65 VI Conversational competence 66 A Be orderly 66 B Background noise 68 C Cooperative principle 68 D Competence 69 VII The scientific value of androids 71 VIII The value of androids as art 72 IX The uncanny valley: a possible obstacle to artistic androids 73 X Consciousness 74 XI Conclusion 75 Part II: Frameworks and Guidelines Bilge Mutlu, Sean Andrist, and Allison Sauppé Enabling human-robot dialogue 81 I Introduction 81 II Review of the literature 82 A Multimodal, multiparty dialogue 83 B Situated interaction 84 C Joint action 85 D Linguistic and nonverbal effectiveness 87 E Adaptive dialogue 88 III A framework for human-robot dialogue-systems 89 A Multimodal language processing 90 B Domain processing 90 C Task model 90 D Dialogue model 91 E Multimodal production 91 F Adaptive dialogue 92

3 Contents VII IV Enabling effective human-robot dialogue 93 A Task model for instruction and repair 93 B A production model for expert robot speech 103 C Summary 115 V Opportunities and challenges for future work 116 A Linking task and dialogue models 116 B Development of reusable models 117 C Open sharing of models and components 117 VI Conclusion 118 Fumiko Nazikian Robots can talk but can they teach? 125 I Introduction 125 II Androids in the classroom 126 III Foreign-language teaching 128 A The evolution of foreign-language teaching 129 B The ACTFL guidelines 130 C Assessing accuracy in Japanese 132 IV Robots and the ACTFL guidelines 133 V Identifying the difficulties facing Japanese-language learners 134 A Learning sounds and prosody 134 B Grammar 136 C Sociocultural aspects 139 D Pragmatic strategies 141 E Can a speech-enabled robot teach? 142 VI Global communication and the intercultural speaker 143 A Dialogue and the intercultural speaker 144 B Robots as an intercultural link 144 VII Conclusion 145 Nicole Mirnig and Manfred Tscheligi Comprehension, coherence and consistency: Essentials of Robot Feedback 149 I Introduction 149 II Prior work 152 III A framework for human-robot interaction 154 A Introduction 154 B Robot feedback 154 C Mental models 156 D Three basic principles 158 IV Conclusion 166

4 VIII Contents Part III: Learning Jonathan H. Connell Extensible grounding of speech for robot instruction 175 I Introduction 175 A Eldercare as a domain 175 B Language and learning 177 C Cultural bootstrapping 179 II Grounding substrate 180 A Object finding 181 B Object properties 183 C Gesture recognition 185 D Speech interpretation 187 E Manipulation routines 189 III Demonstration of abilities 191 A Scene understanding 192 B Object naming 193 C Semantic web access 195 D Procedure learning 197 IV Adding motivation 199 Alan R. Wagner Lies and deception: Robots that use falsehood as a social strategy 203 I Introduction 203 II Prior work 205 III Basic elements 206 IV Framework 208 A Representing an interaction 208 B Outcome-matrix transformation 209 C Stereotyping 211 V Implementation 213 A Examining the factors influence the decision to lie 216 B Using stereotypes and partner modeling to predict the cost of lying 218 VI Summary and future work 222 VII Conclusion 223 Joerg C. Wolf and Guido Bugmann Robotic learning from multimodal instructions: a card game case study 227 I Introduction 227 II Related work 228 III Human-to-human instruction 228

5 Contents IX IV System components: instructor input 231 A Overview 231 B Speech 231 C Non-verbal input 233 D Multimodal integration 235 E Temporal and semantic integration 237 V Robot agent learning 238 A Overview 238 B Rule frames 238 C Action selection at execution time 240 D Mapping issues 240 VI Dialogue management (DM) 242 VII System evaluation 243 A Approach 243 B Experiment 1: dealing instruction 244 C Experiment 2: teaching four rules 247 D Errors per rule 249 VIII Discussion of errors 251 A Human error 251 B Dialogue errors 251 C Grammar coverage 252 D Manipulation recognition and multimodal integration 252 IX Summary and conclusions 253 A Summary 253 B Corpus-based approach 253 C Demonstration channel 254 D Multimodal integration 255 E Conclusion 255 Part IV: Design François Grondin and François Michaud Real-time audition system for autonomous mobile robots 263 I Introduction 263 II Issues and challenges in robot audition 264 A Microphones 265 B Reverberation 265 C Environmental noise 267 D Ego noise 268 E Real-time performance 268

6 X Contents III ManyEars: an open framework for robot audition 268 A Localization 269 B Tracking 271 C Separation 272 D Post-filtering 274 IV Recognition 275 A Automatic speech recognition (ASR) 275 B Speaker recognition 278 C Emotion, music and daily sounds recognition 279 V Conclusion 280 Sandra Y. Okita and Victor Ng-Thow-Hing The effects of design choices on human-robot interactions in children and adults 285 I Introduction 285 II Prior work the evolution of the role of robots 286 III Social schemas and social metaphors 288 IV Design choices in lower-level communication modalities 291 A Type of voice 291 B Speed setting of gestures 294 V Design choices in higher-level communication modalities 297 A Proxemics and social schemas 297 B Level of attention 299 VI Effects of developmental differences on design choices 303 A Level of intelligent behavior in robots 304 B Realism and contingency level 307 VII Conclusions and future work 309 Part V: Conclusion Roger K. Moore From talking and listening robots to intelligent communicative machines 317 I Introduction 317 II Looking for solutions 319 A Beyond speech 320 B Beyond words 322 C Beyond meaning 323 D Beyond communication 324 E Beyond dialogue 325 F Beyond one-off interactions 326

7 Contents XI III Towards intelligent communicative machines 327 A Achieving an appropriate balance of capabilities 328 B A consolidated perspective 329 C Beyond human abilities 330 IV Conclusion 330 Index 337

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