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A robot with natural interaction capabilities

This paper describes the architecture and current capabilities of Carl, a prototype of an intelligent service robot, designed having in mind such tasks as serving food in a reception or acting as a host in an organization. The approach that has been followed in the design of Carl is based on an explicit concern with the integration of the major dimensions of intelligence, namely communication, action, reasoning and learning. The paper focuses on the multi-modal human-robot communication capabilities of Carl, since these have been significantly improved during the last year.