Humanlike conversation with gestures and verbal cues based on a three-layer attention-drawing model

Osamu Sugiyama, Takayuki Kanda, Michita Imai, Hiroshi Ishiguro, Norihiro Hagita, Yuichiro Anzai

Research output: Contribution to journalArticlepeer-review

61 Citations (Scopus)


When describing a physical object, we indicate which object by pointing and using reference terms, such as 'this' and 'that', to inform the listener quickly of an indicated object's location. Therefore, this research proposes using a three-layer attention-drawing model for humanoid robots that incorporates such gestures and verbal cues. The proposed three-layer model consists of three sub-models: the Reference Term Model (RTM); the Limit Distance Model (LDM); and the Object Property Model (OPM). The RTM selects an appropriate reference term for distance, based on a quantitative analysis of human behaviour. The LDM decides whether to use a property of the object, such as colour, as an additional term for distinguishing the object from its neighbours. The OPM determines which property should be used for this additional reference. Based on this concept, an attention-drawing system was developed for a communication robot named 'Robovie', and its effectiveness was tested.

Original languageEnglish
Pages (from-to)379-402
Number of pages24
JournalConnection Science
Issue number4
Publication statusPublished - 2006 Dec 1


  • Deictic gestures
  • Human-robot interaction
  • Human-robot interface

ASJC Scopus subject areas

  • Software
  • Human-Computer Interaction
  • Artificial Intelligence


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