"id" |"create_date" |"modified_date" |"depositor" |"title" |"date_uploaded" |"date_modified"|"state"|"proxy_depositor"|"on_behalf_of"|"arkivo_checksum"|"owner"|"alternate_title"|"award"|"includes"|"advisor" |"sponsor"|"center"|"year"|"funding"|"institute"|"orcid"|"committee"|"degree"|"department" |"school"|"defense_date"|"sdg"|"alternative_title"|"label"|"relative_path"|"import_url"|"resource_type"|"creator" |"contributor" |"description" |"abstract"|"keyword" |"keyword" |"keyword" |"keyword"|"keyword" |"keyword" |"keyword" |"keyword" |"keyword" |"keyword" |"keyword"|"keyword" |"license"|"rights_notes"|"rights_statement" |"access_right"|"publisher" |"date_created"|"subject"|"language"|"identifier" |"based_near"|"related_url"|"bibliographic_citation"|"source"|"version" |"permalink" "mw22v561z"|"2019-06-29T06:31:21.997+00:00"|"2024-03-12T21:14:07.936+00:00"|"depositor@wpi.edu"|"Generating Engagement Behaviors in Human-Robot Interaction "|"2019-06-29T06:31:21.279+00:00"|"" |"" |"" |"" |"" |"" |"" |"" |"" |"Rich, Charles"|"" |"" |"2011"|"" |"" |"" |"" |"MS" |"Computer Science"|"" |"2011-04-26" |"" |"" |"" |"" |"" |"Thesis" |"Holroyd, Aaron"|"Rich, Charles"|"Based on a study of the engagement process between humans, I have developed models for four types of connection events involving gesture and speech: directed gaze, mutual facial gaze, adjacency pairs and backchannels. I have developed and validated a reusable Robot Operating System (ROS) module that supports engagement between a human and a humanoid robot by generating appropriate connection events. The module implements policies for adding gaze and pointing gestures to referring phrases (including deictic and anaphoric references), performing end-of-turn gazes, responding to human-initiated connection events and maintaining engagement. The module also provides an abstract interface for receiving information from a collaboration manager using the Behavior Markup Language (BML) and exchanges information with a previously developed engagement recognition module. This thesis also describes a Behavior Markup Language (BML) realizer that has been developed for use in robotic applications. Instead of the existing fixed-timing algorithms used with virtual agents, this realizer uses an event-driven architecture, based on Petri nets, to ensure each behavior is synchronized in the presence of unpredictable variability in robot motor systems. The implementation is robot independent, open-source and uses the Robot Operating System (ROS). "|"" |"generating"|"humanoid"|"Computer Science"|"HRI" |"BML realizer"|"robot operating system"|"human-robot"|"Interaction"|"behavior markup language"|"open source"|"ROS" |"engagement"|"" |"" |"http://rightsstatements.org/vocab/InC/1.0/"|"" |"Worcester Polytechnic Institute"|"2011-04-26" |"" |"English" |"etd-042611-100248"|"" |"" |"" |"" |"W/"f00abbdf937317bf458db97cb712f345c2d0a2ca""|"https://digital.wpi.edu/show/mw22v561z"