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The iCub-Human-Robot Interaction (HRI) library integrates perception, manipulation, and social skills for humanoid robots. This open-source tool facilitates complex human-robot interaction research and development.

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Area of Science:

  • Robotics
  • Artificial Intelligence
  • Human-Robot Interaction

Background:

  • Developing human-like behavior in humanoid robots necessitates integrating diverse open-source components and scalable cognitive architectures.
  • The iCub platform requires robust software frameworks for advanced interaction capabilities.

Purpose of the Study:

  • To introduce the iCub-HRI library, a C++ framework with Java, Python, and Matlab bindings.
  • To provide convenience wrappers for perception, manipulation, and social interaction components.
  • To enable extensions for new components and rapid prototyping in human-robot interaction.

Main Methods:

  • Developed a C++ library (iCub-HRI) with bindings for Java, Python, and Matlab.
  • Integrated components for object recognition, agent tracking, speech recognition, touch detection, motor actions, speech synthesis, and joint attention.
  • Created modules for knowledge acquisition and action recognition.

Main Results:

  • The iCub-HRI library successfully supports complex human-robot interaction scenarios.
  • Demonstrated language acquisition, goal-oriented behavior, and narrative expression in a humanoid robot.
  • A tutorial is provided for reproducing a subset of the interaction.

Conclusions:

  • The iCub-HRI library offers a flexible and extensible platform for humanoid robot research.
  • It is suitable for both novice and expert users within the iCub ecosystem.
  • The library is expected to foster widespread adoption and advance human-robot interaction research.