Modeling Human-Robot-Interaction based on generic Interaction Patterns

While current techniques for human-robot interaction modeling are typically limited to restrictive commandcontrol style, traditional dialog modeling approaches are not directly applicable to robotics due to the lack of real-world integration. We present an approach that combines insights from dialog modeling with softwareengineering demands that arise in robotics system research to provide a generalizable framework that can easily be applied to new scenarios. This goal is achieved by defining interaction patterns that combine abstract task states (such as task accepted or failed) with robot dialog acts (such as assertion or apology). An evaluation of the usability for robotic experts and novices showed that both groups were able to program 3 out of 5 dialog patterns in one hour while showing a steep learning curve. We argue that the proposed approach allows for less restricted and more informative humanrobot interactions.