Research Article

On Indexicality, Direction of Arrival of Sound Sources, and Human-Robot Interaction

Table 2

Capabilities, modules, and hardware used on the Golem-II+ robot (IH: in-house developed).

ModuleHardware Software libraries

Dialogue management
Dialogue manager SitLog
Knowledge-base Prolog

Vision
Object recognition Flea 3 camera MOPED
Person recognition WebCam OpenCV
Person tracking Kinect OpenNI
Gestures recognition Kinect OpenNI

Language
Speech recognition Directional Mic PocketSphinx
Speech synthesiser Speakers Festival TTS
Understanding GF grammar, IH parser

Sound perception
DOA system 3 omnidirectional mics
Volume monitor Directional mic Jack, IH library
Volume monitor M-Audio Fast Track interface Jack, IH library

Navigation, manipulation, and neck
Navigation Robotic base, laser Player
Manipulation IH robotic arm Dynamixel RoboPlus
Neck movement IH neck Dynamixel RoboPlus