Apparatus and method for determining interaction between human and robot

A method for determining a modality of interaction between a user and a robot, comprising:

• recognizing a user state and an environment state by sensing circumstances around the robot;
• determining an interaction capability state associated with interaction with user based on the recognized user state and environment state;
• and
• determining interaction behavior of the robot for the interaction with the user based on the user state, the environment state, and the interaction capability state.

A method for determining a modality of interaction between a user and a robot, comprising:

• recognizing a user state and an environment state by sensing circumstances around the robot;
• determining, based on the recognized user state and environment state, at least one of visual accessibility indicating a degree of possibility that the user is able to pay visual attention to the robot, auditory accessibility indicating a degree of possibility that the user is able to pay auditory attention to sound of the robot, and tactile accessibility indicating a degree of possibility that the robot is able to come into contact with the user;
• and
• determining an interaction behavior of the robot for interaction with the user based on at least one of the visual accessibility, the auditory accessibility, and the tactile accessibility.