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).
| Module | Hardware | 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 |
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