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3016277 03 01 01 JB John Benjamins Publishing Company 01 JB code BCT 81 Eb 15 9789027267641 06 10.1075/bct.81 13 2015036657 DG 002 02 01 BCT 02 1874-0081 Benjamins Current Topics 81 <TitleType>01</TitleType> <TitleText textformat="02">Gaze in Human-Robot Communication</TitleText> 01 bct.81 01 https://benjamins.com 02 https://benjamins.com/catalog/bct.81 1 B01 Frank Broz Broz, Frank Frank Broz Heriot-Watt University 2 B01 Hagen Lehmann Lehmann, Hagen Hagen Lehmann Instituto Italiano di Tecnologia 3 B01 Bilge Mutlu Mutlu, Bilge Bilge Mutlu University of Wisconsin-Madison 4 B01 Yukiko Nakano Nakano, Yukiko Yukiko Nakano Seikei University 01 eng 177 xv 162 COM079010 v.2006 UYQ 2 24 JB Subject Scheme COMM.CGEN Communication Studies 24 JB Subject Scheme IS.GIS Interaction Studies 24 JB Subject Scheme LIN.AI Artificial Intelligence 06 01 <i>Gaze in Human-Robot Communication</i> is a volume collecting recent research studying gaze behaviour in human-robot interaction (HRI). The selected articles draw inspiration from related research into gaze in human-human interaction in fields ranging from ethnography to neuroscience. The major themes of these articles include: the experimental investigation of human responses to robot gaze, the investigation of the impact of coordinating gaze acts with speech, and the development of hardware and software technologies for enabling robot gaze. This volume provides an excellent introduction to the depth and breadth of this growing research area in HRI. The highly interdisciplinary nature of the work presented should make it of interest both to robotics researchers and to researchers from other fields with an interest in the role of gaze in communication.<br />Originally published in <i>Interaction Studies</i> Vol. 14:3 (2013). 04 09 01 https://benjamins.com/covers/475/bct.81.png 04 03 01 https://benjamins.com/covers/475_jpg/9789027242693.jpg 04 03 01 https://benjamins.com/covers/475_tif/9789027242693.tif 06 09 01 https://benjamins.com/covers/1200_front/bct.81.hb.png 07 09 01 https://benjamins.com/covers/125/bct.81.png 25 09 01 https://benjamins.com/covers/1200_back/bct.81.hb.png 27 09 01 https://benjamins.com/covers/3d_web/bct.81.hb.png 10 01 JB code bct.81.s1 Section header 1 <TitleType>01</TitleType> <TitleText textformat="02">Editorial</TitleText> 10 01 JB code bct.81.001int vii xvi 10 Article 2 <TitleType>01</TitleType> <TitleText textformat="02">Introduction</TitleText> 1 A01 Frank Broz Broz, Frank Frank Broz Heriot -Watt University, Dept. of Computer Science 2 A01 Hagen Lehmann Lehmann, Hagen Hagen Lehmann Istituto Italiano di Tecnologia, iCub Facility 3 A01 Bilge Mutlu Mutlu, Bilge Bilge Mutlu University of Wisconsin-Madison, Dept. of Computer Science 4 A01 Yukiko Nakano Nakano, Yukiko Yukiko Nakano Seikei University, Dept. of Computer and Information Science 10 01 JB code bct.81.01shi 1 12 12 Article 3 <TitleType>01</TitleType> <TitleText textformat="02">Design of a gaze behavior at a small mistake moment for a robot</TitleText> 1 A01 Masahiro Shiomi Shiomi, Masahiro Masahiro Shiomi 2 A01 Kayako Nakagawa Nakagawa, Kayako Kayako Nakagawa 3 A01 Norihiro Hagita Hagita, Norihiro Norihiro Hagita 20 Communication robots 20 gaze 20 mistake 20 mitigation 01 A change of gaze behavior at a small mistake moment is a natural response that reveals our own mistakes and suggests an apology to others with whom we are working or interacting. In this paper we investigate how robot gaze behaviors at small mistake moments change the impressions of others. To prepare gaze behaviors for a robot, first, we identified by questionnaires how human gaze behaviors change in such situations and extracted three kinds: looking at the other, looking down, and looking away. We prepared each gaze behavior, added a no-gaze behavior, and investigated how a robot&#8217;s gaze behavior at a small mistake moment changes the impressions of the interacting people in a simple cooperative task. Experiment results show that the &#8216;looking at the other&#8217; gaze behavior outperforms the other gaze behaviors and indicates the degrees of perceived apologeticness and friendliness. 10 01 JB code bct.81.02sci 13 32 20 Article 4 <TitleType>01</TitleType> <TitleText textformat="02">Robots can be perceived as goal-oriented agents</TitleText> 1 A01 Alessandra Sciutti Sciutti, Alessandra Alessandra Sciutti 2 A01 Ambra Bisio Bisio, Ambra Ambra Bisio 3 A01 Francesco Nori Nori, Francesco Francesco Nori 4 A01 Giorgio Metta Metta, Giorgio Giorgio Metta 5 A01 Luciano Fadiga Fadiga, Luciano Luciano Fadiga 6 A01 Giulio Sandini Sandini, Giulio Giulio Sandini 20 action understanding 20 anticipation 20 Humanoid robot 20 motor resonance 20 proactive gaze 01 Understanding the goals of others is fundamental for any kind of interpersonal interaction and collaboration. From a neurocognitive perspective, intention understanding has been proposed to depend on an involvement of the observer&#8217;s motor system in the prediction of the observed actions (Nystr&#246;m et al. 2011; Rizzolatti &#38; Sinigaglia 2010; Southgate et al. 2009). An open question is if a similar understanding of the goal mediated by <i>motor resonance</i> can occur not only between humans, but also for humanoid robots. In this study we investigated whether goal-oriented robotic actions can induce motor resonance by measuring the appearance of anticipatory gaze shifts to the goal during action observation. Our results indicate a similar implicit processing of humans&#8217; and robots&#8217; actions and propose to use anticipatory gaze behaviour as a tool for the evaluation of human-robot interactions. 10 01 JB code bct.81.03oku 33 46 14 Article 5 <TitleType>01</TitleType> <TitleText textformat="02">Can infants use robot gaze for object learning&#63;</TitleText> <Subtitle textformat="02">The effect of verbalization</Subtitle> 1 A01 Yuko Okumura Okumura, Yuko Yuko Okumura 2 A01 Yasuhiro Kanakogi Kanakogi, Yasuhiro Yasuhiro Kanakogi 3 A01 Takayuki Kanda Kanda, Takayuki Takayuki Kanda 4 A01 Hiroshi Ishiguro Ishiguro, Hiroshi Hiroshi Ishiguro 5 A01 Shoji Itakura Itakura, Shoji Shoji Itakura 20 cognitive development 20 gaze following 20 humanoid robot 20 infant learning 20 verbalization 01 Previous research has shown that although infants follow the gaze direction of robots, robot gaze does not facilitate infants&#8217; learning for objects. The present study examined whether robot gaze affects infants&#8217; object learning when the gaze behavior was accompanied by verbalizations. Twelve-month-old infants were shown videos in which a robot with accompanying verbalizations gazed at an object. The results showed that infants not only followed the robot&#8217;s gaze direction but also preferentially attended to the cued object when the ostensive verbal signal was present. Moreover, infants showed enhanced processing of the cued object when ostensive and referential verbal signals were increasingly present. These effects were not observed when mere nonverbal sound stimuli instead of verbalizations were added. Taken together, our findings indicate that robot gaze accompanying verbalizations facilitates infants&#8217; object learning, suggesting that verbalizations are important in the design of robot agents from which infants can learn. 10 01 JB code bct.81.04yam 47 70 24 Article 6 <TitleType>01</TitleType> <TitleText textformat="02">Interactions between a quiz robot and multiple participants</TitleText> <Subtitle textformat="02">Focusing on speech, gaze and bodily conduct in Japanese and English speakers</Subtitle> 1 A01 Akiko Yamazaki Yamazaki, Akiko Akiko Yamazaki 2 A01 Keiichi Yamazaki Yamazaki, Keiichi Keiichi Yamazaki 3 A01 Keiko Ikeda Ikeda, Keiko Keiko Ikeda 4 A01 Matthew Burdelski Burdelski, Matthew Matthew Burdelski 5 A01 Mihoko Fukushima Fukushima, Mihoko Mihoko Fukushima 6 A01 Tomoyuki Suzuki Suzuki, Tomoyuki Tomoyuki Suzuki 7 A01 Miyuki Kurihara Kurihara, Miyuki Miyuki Kurihara 8 A01 Yoshinori Kuno Kuno, Yoshinori Yoshinori Kuno 9 A01 Yoshinori Kobayashi Kobayashi, Yoshinori Yoshinori Kobayashi 20 conversation analysis 20 coordination of verbal and non-verbal actions 20 human-robot interaction (HRI) 20 robot gaze comparison between English and Japanese 20 transition relevance place (TRP) 01 This paper reports on a quiz robot experiment in which we explore similarities and differences in human participant speech, gaze, and bodily conduct in responding to a robot&#8217;s speech, gaze, and bodily conduct across two languages. Our experiment involved three-person groups of Japanese and English-speaking participants who stood facing the robot and a projection screen that displayed pictures related to the robot&#8217;s questions. The robot was programmed so that its speech was coordinated with its gaze, body position, and gestures in relation to transition relevance places (TRPs), key words, and deictic words and expressions (e.g. this, this picture) in both languages. Contrary to findings on human interaction, we found that the frequency of English speakers&#8217; head nodding was higher than that of Japanese speakers in human-robot interaction (HRI). Our findings suggest that the coordination of the robot&#8217;s verbal and non-verbal actions surrounding TRPs, key words, and deictic words and expressions is important for facilitating HRI irrespective of participants&#8217; native language. 10 01 JB code bct.81.05xu 71 98 28 Article 7 <TitleType>01</TitleType> <TitleText textformat="02">Cooperative gazing behaviors in human multi-robot interaction</TitleText> 1 A01 Tian Xu Xu, Tian Tian Xu 2 A01 Hui Zhang Zhang, Hui Hui Zhang 3 A01 Chen Yu Yu, Chen Chen Yu 20 embodied conversational agent 20 eye gaze cue 20 human-robot interaction 20 multiparty interaction 20 multi-robot interaction 01 When humans are addressing multiple robots with informative speech acts (Clark &#38; Carlson 1982), their cognitive resources are shared between all the participating robot agents. For each moment, the user&#8217;s behavior is not only determined by the actions of the robot that they are directly gazing at, but also shaped by the behaviors from all the other robots in the shared environment. We define cooperative behavior as the action performed by the robots that are not capturing the user&#8217;s direct attention. In this paper, we are interested in how the human participants adjust and coordinate their own behavioral cues when the robot agents are performing different cooperative gaze behaviors. A novel gaze-contingent platform was designed and implemented. The robots&#8217; behaviors were triggered by the participant&#8217;s attentional shifts in real time. Results showed that the human participants were highly sensitive when the robot agents were performing different cooperative gazing behaviors. 10 01 JB code bct.81.06moh 99 130 32 Article 8 <TitleType>01</TitleType> <TitleText textformat="02">Learning where to look</TitleText> 1 A01 Yasser F.O. Mohammad Mohammad, Yasser F.O. Yasser F.O. Mohammad 2 A01 Toyoaki Nishida Nishida, Toyoaki Toyoaki Nishida 20 Embodied Interactive Control Architecture 20 Gaze Control 20 HRI 20 Learning Nonverbal Behavior 20 Motif Discovery 20 social robotics 01 Autonomous development of gaze behavior for natural human-robot interaction 10 01 JB code bct.81.07onu 131 158 28 Article 9 <TitleType>01</TitleType> <TitleText textformat="02">Designing robot eyes for communicating gaze</TitleText> 1 A01 Tomomi Onuki Onuki, Tomomi Tomomi Onuki 2 A01 Takafumi Ishinoda Ishinoda, Takafumi Takafumi Ishinoda 3 A01 Emi Tsuburaya Tsuburaya, Emi Emi Tsuburaya 4 A01 Yuki Miyata Miyata, Yuki Yuki Miyata 5 A01 Yoshinori Kobayashi Kobayashi, Yoshinori Yoshinori Kobayashi 6 A01 Yoshinori Kuno Kuno, Yoshinori Yoshinori Kuno 20 facial design 20 Gaze reading 20 projector camera system 01 Human eyes not only serve the function of enabling us &#8220;to see&#8221; something, but also perform the vital role of allowing us &#8220;to show&#8221; our gaze for non-verbal communication, such as through establishing eye contact and joint attention. The eyes of service robots should therefore also perform both of these functions. Moreover, they should be friendly in appearance so that humans may feel comfortable with the robots. Therefore we maintain that it is important to consider gaze communication capability and friendliness in designing the appearance of robot eyes. In this paper, we propose a new robot face with rear-projected eyes for changing their appearance while simultaneously realizing the showing of gaze by incorporating stereo cameras. Additionally, we examine which shape of robot eyes is most suitable for gaze reading and gives the friendliest impression, through experiments where we altered the shape and iris size of robot eyes. 10 01 JB code bct.81.08ind 159 162 4 Article 10 <TitleType>01</TitleType> <TitleText textformat="02">Index</TitleText> 02 JBENJAMINS John Benjamins Publishing Company 01 John Benjamins Publishing Company Amsterdam/Philadelphia NL 04 20151216 2015 John Benjamins B.V. 02 WORLD 13 15 9789027242693 01 JB 3 John Benjamins e-Platform 03 jbe-platform.com 09 WORLD 21 01 00 85.00 EUR R 01 00 71.00 GBP Z 01 gen 00 128.00 USD S 818016276 03 01 01 JB John Benjamins Publishing Company 01 JB code BCT 81 Hb 15 9789027242693 13 2015040609 BB 01 BCT 02 1874-0081 Benjamins Current Topics 81 <TitleType>01</TitleType> <TitleText textformat="02">Gaze in Human-Robot Communication</TitleText> 01 bct.81 01 https://benjamins.com 02 https://benjamins.com/catalog/bct.81 1 B01 Frank Broz Broz, Frank Frank Broz Heriot-Watt University 2 B01 Hagen Lehmann Lehmann, Hagen Hagen Lehmann Instituto Italiano di Tecnologia 3 B01 Bilge Mutlu Mutlu, Bilge Bilge Mutlu University of Wisconsin-Madison 4 B01 Yukiko Nakano Nakano, Yukiko Yukiko Nakano Seikei University 01 eng 177 xv 162 COM079010 v.2006 UYQ 2 24 JB Subject Scheme COMM.CGEN Communication Studies 24 JB Subject Scheme IS.GIS Interaction Studies 24 JB Subject Scheme LIN.AI Artificial Intelligence 06 01 <i>Gaze in Human-Robot Communication</i> is a volume collecting recent research studying gaze behaviour in human-robot interaction (HRI). The selected articles draw inspiration from related research into gaze in human-human interaction in fields ranging from ethnography to neuroscience. The major themes of these articles include: the experimental investigation of human responses to robot gaze, the investigation of the impact of coordinating gaze acts with speech, and the development of hardware and software technologies for enabling robot gaze. This volume provides an excellent introduction to the depth and breadth of this growing research area in HRI. The highly interdisciplinary nature of the work presented should make it of interest both to robotics researchers and to researchers from other fields with an interest in the role of gaze in communication.<br />Originally published in <i>Interaction Studies</i> Vol. 14:3 (2013). 04 09 01 https://benjamins.com/covers/475/bct.81.png 04 03 01 https://benjamins.com/covers/475_jpg/9789027242693.jpg 04 03 01 https://benjamins.com/covers/475_tif/9789027242693.tif 06 09 01 https://benjamins.com/covers/1200_front/bct.81.hb.png 07 09 01 https://benjamins.com/covers/125/bct.81.png 25 09 01 https://benjamins.com/covers/1200_back/bct.81.hb.png 27 09 01 https://benjamins.com/covers/3d_web/bct.81.hb.png 10 01 JB code bct.81.s1 Section header 1 <TitleType>01</TitleType> <TitleText textformat="02">Editorial</TitleText> 10 01 JB code bct.81.001int vii xvi 10 Article 2 <TitleType>01</TitleType> <TitleText textformat="02">Introduction</TitleText> 1 A01 Frank Broz Broz, Frank Frank Broz Heriot -Watt University, Dept. of Computer Science 2 A01 Hagen Lehmann Lehmann, Hagen Hagen Lehmann Istituto Italiano di Tecnologia, iCub Facility 3 A01 Bilge Mutlu Mutlu, Bilge Bilge Mutlu University of Wisconsin-Madison, Dept. of Computer Science 4 A01 Yukiko Nakano Nakano, Yukiko Yukiko Nakano Seikei University, Dept. of Computer and Information Science 10 01 JB code bct.81.01shi 1 12 12 Article 3 <TitleType>01</TitleType> <TitleText textformat="02">Design of a gaze behavior at a small mistake moment for a robot</TitleText> 1 A01 Masahiro Shiomi Shiomi, Masahiro Masahiro Shiomi 2 A01 Kayako Nakagawa Nakagawa, Kayako Kayako Nakagawa 3 A01 Norihiro Hagita Hagita, Norihiro Norihiro Hagita 20 Communication robots 20 gaze 20 mistake 20 mitigation 01 A change of gaze behavior at a small mistake moment is a natural response that reveals our own mistakes and suggests an apology to others with whom we are working or interacting. In this paper we investigate how robot gaze behaviors at small mistake moments change the impressions of others. To prepare gaze behaviors for a robot, first, we identified by questionnaires how human gaze behaviors change in such situations and extracted three kinds: looking at the other, looking down, and looking away. We prepared each gaze behavior, added a no-gaze behavior, and investigated how a robot&#8217;s gaze behavior at a small mistake moment changes the impressions of the interacting people in a simple cooperative task. Experiment results show that the &#8216;looking at the other&#8217; gaze behavior outperforms the other gaze behaviors and indicates the degrees of perceived apologeticness and friendliness. 10 01 JB code bct.81.02sci 13 32 20 Article 4 <TitleType>01</TitleType> <TitleText textformat="02">Robots can be perceived as goal-oriented agents</TitleText> 1 A01 Alessandra Sciutti Sciutti, Alessandra Alessandra Sciutti 2 A01 Ambra Bisio Bisio, Ambra Ambra Bisio 3 A01 Francesco Nori Nori, Francesco Francesco Nori 4 A01 Giorgio Metta Metta, Giorgio Giorgio Metta 5 A01 Luciano Fadiga Fadiga, Luciano Luciano Fadiga 6 A01 Giulio Sandini Sandini, Giulio Giulio Sandini 20 action understanding 20 anticipation 20 Humanoid robot 20 motor resonance 20 proactive gaze 01 Understanding the goals of others is fundamental for any kind of interpersonal interaction and collaboration. From a neurocognitive perspective, intention understanding has been proposed to depend on an involvement of the observer&#8217;s motor system in the prediction of the observed actions (Nystr&#246;m et al. 2011; Rizzolatti &#38; Sinigaglia 2010; Southgate et al. 2009). An open question is if a similar understanding of the goal mediated by <i>motor resonance</i> can occur not only between humans, but also for humanoid robots. In this study we investigated whether goal-oriented robotic actions can induce motor resonance by measuring the appearance of anticipatory gaze shifts to the goal during action observation. Our results indicate a similar implicit processing of humans&#8217; and robots&#8217; actions and propose to use anticipatory gaze behaviour as a tool for the evaluation of human-robot interactions. 10 01 JB code bct.81.03oku 33 46 14 Article 5 <TitleType>01</TitleType> <TitleText textformat="02">Can infants use robot gaze for object learning&#63;</TitleText> <Subtitle textformat="02">The effect of verbalization</Subtitle> 1 A01 Yuko Okumura Okumura, Yuko Yuko Okumura 2 A01 Yasuhiro Kanakogi Kanakogi, Yasuhiro Yasuhiro Kanakogi 3 A01 Takayuki Kanda Kanda, Takayuki Takayuki Kanda 4 A01 Hiroshi Ishiguro Ishiguro, Hiroshi Hiroshi Ishiguro 5 A01 Shoji Itakura Itakura, Shoji Shoji Itakura 20 cognitive development 20 gaze following 20 humanoid robot 20 infant learning 20 verbalization 01 Previous research has shown that although infants follow the gaze direction of robots, robot gaze does not facilitate infants&#8217; learning for objects. The present study examined whether robot gaze affects infants&#8217; object learning when the gaze behavior was accompanied by verbalizations. Twelve-month-old infants were shown videos in which a robot with accompanying verbalizations gazed at an object. The results showed that infants not only followed the robot&#8217;s gaze direction but also preferentially attended to the cued object when the ostensive verbal signal was present. Moreover, infants showed enhanced processing of the cued object when ostensive and referential verbal signals were increasingly present. These effects were not observed when mere nonverbal sound stimuli instead of verbalizations were added. Taken together, our findings indicate that robot gaze accompanying verbalizations facilitates infants&#8217; object learning, suggesting that verbalizations are important in the design of robot agents from which infants can learn. 10 01 JB code bct.81.04yam 47 70 24 Article 6 <TitleType>01</TitleType> <TitleText textformat="02">Interactions between a quiz robot and multiple participants</TitleText> <Subtitle textformat="02">Focusing on speech, gaze and bodily conduct in Japanese and English speakers</Subtitle> 1 A01 Akiko Yamazaki Yamazaki, Akiko Akiko Yamazaki 2 A01 Keiichi Yamazaki Yamazaki, Keiichi Keiichi Yamazaki 3 A01 Keiko Ikeda Ikeda, Keiko Keiko Ikeda 4 A01 Matthew Burdelski Burdelski, Matthew Matthew Burdelski 5 A01 Mihoko Fukushima Fukushima, Mihoko Mihoko Fukushima 6 A01 Tomoyuki Suzuki Suzuki, Tomoyuki Tomoyuki Suzuki 7 A01 Miyuki Kurihara Kurihara, Miyuki Miyuki Kurihara 8 A01 Yoshinori Kuno Kuno, Yoshinori Yoshinori Kuno 9 A01 Yoshinori Kobayashi Kobayashi, Yoshinori Yoshinori Kobayashi 20 conversation analysis 20 coordination of verbal and non-verbal actions 20 human-robot interaction (HRI) 20 robot gaze comparison between English and Japanese 20 transition relevance place (TRP) 01 This paper reports on a quiz robot experiment in which we explore similarities and differences in human participant speech, gaze, and bodily conduct in responding to a robot&#8217;s speech, gaze, and bodily conduct across two languages. Our experiment involved three-person groups of Japanese and English-speaking participants who stood facing the robot and a projection screen that displayed pictures related to the robot&#8217;s questions. The robot was programmed so that its speech was coordinated with its gaze, body position, and gestures in relation to transition relevance places (TRPs), key words, and deictic words and expressions (e.g. this, this picture) in both languages. Contrary to findings on human interaction, we found that the frequency of English speakers&#8217; head nodding was higher than that of Japanese speakers in human-robot interaction (HRI). Our findings suggest that the coordination of the robot&#8217;s verbal and non-verbal actions surrounding TRPs, key words, and deictic words and expressions is important for facilitating HRI irrespective of participants&#8217; native language. 10 01 JB code bct.81.05xu 71 98 28 Article 7 <TitleType>01</TitleType> <TitleText textformat="02">Cooperative gazing behaviors in human multi-robot interaction</TitleText> 1 A01 Tian Xu Xu, Tian Tian Xu 2 A01 Hui Zhang Zhang, Hui Hui Zhang 3 A01 Chen Yu Yu, Chen Chen Yu 20 embodied conversational agent 20 eye gaze cue 20 human-robot interaction 20 multiparty interaction 20 multi-robot interaction 01 When humans are addressing multiple robots with informative speech acts (Clark &#38; Carlson 1982), their cognitive resources are shared between all the participating robot agents. For each moment, the user&#8217;s behavior is not only determined by the actions of the robot that they are directly gazing at, but also shaped by the behaviors from all the other robots in the shared environment. We define cooperative behavior as the action performed by the robots that are not capturing the user&#8217;s direct attention. In this paper, we are interested in how the human participants adjust and coordinate their own behavioral cues when the robot agents are performing different cooperative gaze behaviors. A novel gaze-contingent platform was designed and implemented. The robots&#8217; behaviors were triggered by the participant&#8217;s attentional shifts in real time. Results showed that the human participants were highly sensitive when the robot agents were performing different cooperative gazing behaviors. 10 01 JB code bct.81.06moh 99 130 32 Article 8 <TitleType>01</TitleType> <TitleText textformat="02">Learning where to look</TitleText> 1 A01 Yasser F.O. Mohammad Mohammad, Yasser F.O. Yasser F.O. Mohammad 2 A01 Toyoaki Nishida Nishida, Toyoaki Toyoaki Nishida 20 Embodied Interactive Control Architecture 20 Gaze Control 20 HRI 20 Learning Nonverbal Behavior 20 Motif Discovery 20 social robotics 01 Autonomous development of gaze behavior for natural human-robot interaction 10 01 JB code bct.81.07onu 131 158 28 Article 9 <TitleType>01</TitleType> <TitleText textformat="02">Designing robot eyes for communicating gaze</TitleText> 1 A01 Tomomi Onuki Onuki, Tomomi Tomomi Onuki 2 A01 Takafumi Ishinoda Ishinoda, Takafumi Takafumi Ishinoda 3 A01 Emi Tsuburaya Tsuburaya, Emi Emi Tsuburaya 4 A01 Yuki Miyata Miyata, Yuki Yuki Miyata 5 A01 Yoshinori Kobayashi Kobayashi, Yoshinori Yoshinori Kobayashi 6 A01 Yoshinori Kuno Kuno, Yoshinori Yoshinori Kuno 20 facial design 20 Gaze reading 20 projector camera system 01 Human eyes not only serve the function of enabling us &#8220;to see&#8221; something, but also perform the vital role of allowing us &#8220;to show&#8221; our gaze for non-verbal communication, such as through establishing eye contact and joint attention. The eyes of service robots should therefore also perform both of these functions. Moreover, they should be friendly in appearance so that humans may feel comfortable with the robots. Therefore we maintain that it is important to consider gaze communication capability and friendliness in designing the appearance of robot eyes. In this paper, we propose a new robot face with rear-projected eyes for changing their appearance while simultaneously realizing the showing of gaze by incorporating stereo cameras. Additionally, we examine which shape of robot eyes is most suitable for gaze reading and gives the friendliest impression, through experiments where we altered the shape and iris size of robot eyes. 10 01 JB code bct.81.08ind 159 162 4 Article 10 <TitleType>01</TitleType> <TitleText textformat="02">Index</TitleText> 02 JBENJAMINS John Benjamins Publishing Company 01 John Benjamins Publishing Company Amsterdam/Philadelphia NL 04 20151216 2015 John Benjamins B.V. 02 WORLD 08 460 gr 01 JB 1 John Benjamins Publishing Company +31 20 6304747 +31 20 6739773 bookorder@benjamins.nl 01 https://benjamins.com 01 WORLD US CA MX 21 68 30 01 02 JB 1 00 85.00 EUR R 02 02 JB 1 00 90.10 EUR R 01 JB 10 bebc +44 1202 712 934 +44 1202 712 913 sales@bebc.co.uk 03 GB 21 30 02 02 JB 1 00 71.00 GBP Z 01 JB 2 John Benjamins North America +1 800 562-5666 +1 703 661-1501 benjamins@presswarehouse.com 01 https://benjamins.com 01 US CA MX 21 1 30 01 gen 02 JB 1 00 128.00 USD