Solving Ambiguities with Perspective Taking
Raquel Ros, Emrah Akin Sisbot, Rachid Alami, Jasmin Steinwender, Katharina Hamann, Felix Warneken · 2010
Abstract—Humans constantly generate and solve ambiguities while interacting with each other in their every day activities. Hence, having a robot that is able to solve ambiguous situations is essential if we aim at achieving a fluent and acceptable humanrobot interaction. We propose a strategy that combines three mechanisms to clarify ambiguous situations generated by the human partner. We implemented our approach and successfully performed validation tests in several different situations both, in simulation and with the HRP-2 robot. Index Terms—Human-robot interaction, perspective taking I.