RoGuE : Robot Gesture Engine

We present the Robot Gesture Library (RoGuE), amotion-planning approach to generating gestures. Gestures improve robot communication skills, strengthening robots as partners in a collaborative setting. Previouswork maps from environment scenario to gesture selection. This work maps from gesture selection to gesture execution. We create a flexible and common language by parameterizing gestures as task-space constraints onrobot trajectories and goals. This allows us to leverage powerful motion planners and to generalize across environments and robot morphologies. We demonstrateRoGuE on four robots: HREB, ADA, CURI and the PR2.