Context-Awareness and Biologically Inspired Behaviour Based on Attention Mechanisms for Natural Human-Robot Interaction.

The way robots represent the environment, make decisions, and express themselves can positively influence human-robot interaction if they clearly communicate their intentions and needs. To improve human-robot communication, biologically inspired models that mimic human communication skills, including task and scenario-specific contextual information, can facilitate mutual understanding and successful task execution. This paper presents a Context-Awareness and Biologically Inspired Behaviour system to generate a more natural human-robot interaction. The architecture combines sensory information processed by a Joint Attention System that prioritises stimuli based on internal processes with task-related motivations to generate context- and goal-adapted verbal and non-verbal interaction. We evaluate the system through a video-based user study that compares two robots with similar appearances but different behaviours, one using the proposed approach and the other not using the internal state and joint attention mechanisms, to make verbal and non-verbal responses. The results show that participants rated the robot endowed with the proposed system as significantly more sociable, agentic, and animated than the robot without it. Additionally, the robot not showing the responses developed in this work was perceived as more disturbing than the robot integrating the proposed system.