Cooperative Human-Robot Interaction based on Pointing Gesture in Informationally Structured Space

Recently, various types of communication robots have been developed and become more familiar with us. Human-like conversation with gestures and verbal cues makes a contribution to provide more natural communication. In this study, we present an approach for cooperative interaction between human and robot. Pointing gesture is an important measure to share own cognitive environment with others. Pointing is described as a special gesture functionally in that directing someone's attention to something does not convey a specific meaning in the manner of most conventionalized, symbolic gestures. This paper proposes an online learning structure to model a correlation between pointing gesture and verbal cues in human-robot interaction.