公开(公告)号：US11691291B2

公开(公告)日：2023-07-04

申请号：US17105924

申请日：2020-11-27

Applicant: Electronics and Telecommunications Research Institute

Inventor： Woo-Ri Ko ,  Do-Hyung Kim ,  Jae-Hong Kim ,  Young-Woo Yoon ,  Jae-Yeon Lee ,  Min-Su Jang

IPC: G06F19/00 ,  B25J11/00 ,  B25J9/16 ,  B25J13/00

CPC classification number: B25J11/001 ,  B25J9/161 ,  B25J9/163 ,  B25J9/1664 ,  B25J9/1669 ,  B25J9/1692 ,  B25J11/0005 ,  B25J13/003 ,  B25J9/1661 ,  G05B2219/40411

Abstract: Disclosed herein are an apparatus and method for generating robot interaction behavior. The method for generating robot interaction behavior includes generating co-speech gesture of a robot corresponding to utterance input of a user, generating a nonverbal behavior of the robot, that is a sequence of next joint positions of the robot, which are estimated from joint positions of the user and current joint positions of the robot based on a pre-trained neural network model for robot pose estimation, and generating a final behavior using at least one of the co-speech gesture and the nonverbal behavior.