Abstract. Wheeled tour guide robots have already been deployed in various museums or fairs worldwide. A key requirement for successful tour guide robots is to interact with people and to entertain them. Most of the previous tour guide robots, however, focused more on the involved navigation task than on natural interaction with humans. Humanoid robots, on the other hand, offer a great potential for investigating intuitive, multimodal interaction between humans and machines. In this paper, we present our mobile full-body humanoid tour guide robot Robotinho. We provide mechanical and electrical details and cover perception, the integration of multiple modalities for interaction, navigation control, and system integration aspects. The multimodal interaction capabilities of Robotinho have been designed and enhanced according to the questionnaires filled out by the people who interacted with the robot at previous public demonstrations. We present experiences we have made during experiments in which untrained users interacted with the robot.

@InProceedings{faber09roman,
  author =       {Felix Faber and Maren Bennewitz and Clemens Eppner and 
                  Attila G\"{o}r\"{o}g and Christoph Gonsior and 
                  Dominik Joho and Michael Schreiber and Sven Behnke},
  title =        {The Humanoid Museum Tour Guide {R}obotinho},
  booktitle =    {Proceedings of the {IEEE} International Symposium on 
                  Robot and Human Interactive Communication {(RO-MAN)}},
  pages =        {891--896},
  month =        sep,
  year =         {2009},
  address =      {Toyama, Japan},
  doi =          {10.1109/ROMAN.2009.5326326},
  issn =         {1944-9445},
  isbn =         {978-1-4244-5081-7}
}