Towards a Uni ed Framework for Human-Humanoid Interaction

In order for a humanoid robot to be accepted in society and perform as an intelligent human assistant or companion, it must be equipped with a robust human-humanoid interaction (HHI) and task learning mechanisms. This paper describes our eeort to achieve a robust HHI mechanism based on a multi-agent architecture called the Intelligent Machine Architecture (IMA), two high-level agents called the Self and the Human Agents, and short-and long-term memories called the Sensory EgoSphere (SES) and the Database Assocaitive Memory (DBAM). A case study of handshaking between a human and our humanoid system , ISAC, is given to illustrate key concepts.