1.  Motivated by desire for natural human-robot interaction  Encapsulates what the robot knows about the human  Identity  Location  Intentions Human Agent

2.  Detection module: detects the human presence using multiple sensor modalities  IR motion sensor array  speech recognition  face detection  Monitoring module: keeps track of the detected human  Localization and tracking algorithms  Identification module: determines the identity of the human based on the current model  Identify human comparing to stored models  Detects changes in dynamic model Human Agent Modules

3.  Model of the current human: description of the current human  Human activity: description of what the user is doing  User’s request: the nature of the interaction, the task the user request of the robot Human Agent Internal Model

4. Model of the Human  Name : Stan Identification module  Emotion: Sad Monitoring module  Command: Play with me Monitoring module  Face Location: (x,y,z) = (122, 34, 205) Detection & Monitoring modules  Hand Locations: (x,y,z) = (85, -10, 175) (x,y,z) = (175, 56, 186) Detection & Monitoring modules (x, y,z) Stan