Determining robot gaze according to participation roles in multiparty conversations

Gaze is an important nonverbal feedback signal in multiparty face-to-face conversations. To build a robot that can convey the appropriate attentional behavior in human-robot multiparty conversations, this paper analyzes human attentional behaviors in multiparty conversations, and establishes gaze-transition models for speakers, addressees, and side participants. Further, the model was implemented in a humanoid robot that can control its gaze.