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Journal of Robotics
Volume 2016, Article ID 3081048, 13 pages
Research Article

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

Instituto de Investigaciones en Matematicas Aplicadas y en Systemas, Universidad Nacional Autonoma de Mexico, Ciudad Universitaria, Coyocan, 04510 Mexico City, MEX, Mexico

Received 30 November 2015; Revised 7 March 2016; Accepted 10 April 2016

Academic Editor: Gordon R. Pennock

Copyright © 2016 Ivan Meza et al. This is an open access article distributed under the Creative Commons Attribution License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

Supplementary Material

following a person.mp4: In this video a GolemII+ follows a person, when robot lost the sight of its user it ask this to call it. The direction of arrival of this call is interpreted as an index for its user so it decides to look for it in that direction to continue with the task.

taking attendance of a class.mp4: In this video GolemII+ takes attendance of a class. After calling the name of a student it expects for answer. The direction of arrival of such answer is used as an index of the student, the robot faces that direction and verifies the identity of the student.

playing Marco-Polo.mp4: In this video GolemII+ plays the MarcoPolo game. The robot says “marco” and expects for the “polo” answer by another player. The direction of arrival of such answer is used as an index. It uses this information to explore and look for the other player in that direction.

waiter in a restaurant.mp4: In this video GolemII+ acts a waiter. It expects for the calls from the tables. Once it is called it approaches the table to ask for the order. When multiple clients talk simultaneously to the robot, it asks them to do it one by one. While approaching to a table other table can call it. In all this cases, the direction of arrival of the call is used as an index in context of the spatial information.

  1. Supplementary Material