241785.fig.005a
(a)
241785.fig.005b
(b)
Figure 5: (a) The locations of the camera and the microphone of Robovie-R2. (b) Layout of the environment for interaction between the user and the robot. Left, the robot has its head turned directly toward the face of the user for more natural communication. Right, the robot responds by turning its head toward the place pointed at by the user.