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Engaging storytelling is a necessary skill for humanoid robots if they are to be used in education and entertainment applications. Storytelling requires that the humanoid robot be aware of its audience and able to direct its gaze in a natural way. In this paper, the authors explore how human gaze can be modeled and implemented on a humanoid robot to create a natural, human-like behavior for storytelling. The gaze model integrates data collected from a human storyteller and a discourse structure model developed by Cassell and her colleagues for human-like conversational agents. They used this model to direct the gaze of a humanoid robot, Honda's ASIMO, as he recited a Japanese fairy tale using a pre-recorded human voice.
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