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BY-NC-ND 4.0 license Open Access Published by De Gruyter Open Access December 29, 2017

Coordination mechanism for integrated design of Human-Robot Interaction scenarios

  • François Ferland EMAIL logo , Aurélien Reveleau , Francis Leconte , Dominic Létourneau and François Michaud


The ultimate long-term goal in Human-Robot Interaction (HRI) is to design robots that can act as a natural extension to humans. This requires the design of robot control architectures to provide structure for the integration of the necessary components into HRI. This paper describes how HBBA, a Hybrid Behavior-Based Architecture, can be used as a unifying framework for integrated design of HRI scenarios. More specifically, we focus here on HBBA’s generic coordination mechanism of behavior-producing modules, which allows to address a wide range or cognitive capabilities ranging from assisted teleoperation to selective attention and episodic memory. Using IRL-1, a humanoid robot equipped with compliant actuators for motion and manipulation, proximity sensors, cameras and a microphone array, three interaction scenarios are implemented: multi-modal teleoperation with physical guidance interaction, fetching-and delivering and tour-guiding.


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Received: 2017-05-16
Accepted: 2017-12-04
Published Online: 2017-12-29
Published in Print: 2017-12-20

© 2017 François Ferland et al

This work is licensed under the Creative Commons Attribution-NonCommercial-NoDerivatives 4.0 License.

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