Demo of Nao with Expressive Gesture

Within the French project ANR GV-LeX, we have developed an expressive communicative gesture model for the humanoid robot Nao. The goal of this project aims at equipping a humanoid robot with a capacity of producing gestures while telling a story for children. To reach this objective, we have extended and developed our existing virtual agent platform GRETA to be adapted to the robot. Gestural prototypes are described symbolically and stored in a gestural database, called lexicon. Given a set of intentions and emotional states to communicate the system selects from the robot lexicon corresponding gestures. After that the selected gestures are planned to synchronize speech and then instantiated in robot joint values while taking into account parameters of gestural expressivity of temporal extension, spatial extension and repetitivity.


Q. A. Le, C. Pelachaud, Evaluating an Expressive Gesture Model for a Humanoid Robot: Experimental Results, submitted to the 8th ACM/IEEE International Conference on Human Robot Interaction (HRI 2013), 3-6 March, 2013, Tokyo, Japan

Q. A. Le, J.-F. Huang, C. Pelachaud, A Common Gesture and Speech Production Framework for Virtual and Physical Agents, accepted to the 14th ACM International Conference on Multimodal Interaction, Workshop on Speech and Gesture Production in Virtually and Physically Embodied Conversational Agents, 2012, Santa Monica, CA, USA.

Le, Q.A., Hanoune, S. and Pelachaud, C. Design and implementation of an expressive gesture model for a humanoid robot. 11th IEEE-RAS International Conference on Humanoid Robots (Humanoids 2011), Bled, Slovenia on October 26th to 28th, 2011.

Le, Q.A. and Pelachaud, C. Expressive Gesture Model for Humanoid Robot. International Conference of the HUMAINE Association on Affective Computing and Intelligent Interaction (ACII2011), Memphis, Tennessee, USA on October 9th to 12th, 2011.

Le Quoc Anh, Catherine Pelachaud. Generating co-speech gestures for the humanoid robot NAO through BML. Lecture Notes in Computer Science (LNCS) 2011: The 9th International Gesture Workshop. Gesture in Embodied Communication and Human-Computer Interaction, May 25-27, 2011, Athens, Greece.

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