We are presently developing a set of software called the Open Source Software Suite for Human Robot Interaction (OpenHRI). The OpenHRI has the following features: It is implemented on RT-Component, an Object Management Group (OMG) compliant robot technology component specification that can be easily integrated into any robot system. It can perform various functions, from audio signal processing to dialog management, in a uniform and reconfigurable manner. It not only implements each required function of components but also defines a meta-level specification to enable the developer to verify whether the structural design of components is correct. In this paper, we introduce the implementation of the OpenHRI, present the architectural design of the system, and provide examples of applications.

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Supporting Online Materials:
10. [a] Orca,
    http://orca-robotics.sourceforge.net/
11. [b] ROS – Robot Open Source – Willow Garage,
    http://www.willowgarage.com/pages/software/ros-platform
12. [c] NEDO IRTS Communication Intelligence SWG, “Communication Intelligence Common Specification version 1,”
    http://www.openrtm.org/OpenRTM-aist/documents/IRT PJ/irt-speccommunication-ver1.pdf
13. [d] PortAudio – an Open-Source Cross-Platform Audio API,
    http://www.portaudio.com/
14. [e] The Festival Speech Synthesis System,
    http://www.cstr.ed.ac.uk/projects/festival/
15. [f] Open JTalk,
    http://open-jtalk.sourceforge.net/
16. [g] Web Service Semantics – WSDL-S,
    http://www.w3.org/Submission/WSDL-S/