Multimodal communication involving movements of a robot

Communication between humans is multimodal and involves movements as well. While communication between humans and robots is becoming more and more multimodal, movements of a robot in 2D space have not yet been used for communication. In this paper, we present a new approach to multimodal communication with (semi-)autonomous robots, that even includes movements of a robot in 2D space as a form of expressing communicative acts. We also show how such a multimodal human-robot interface can be generated from a discourse-based interaction design that does not even include information about modalities.