The Articulated Social Agents Platform

The Articulated Social Agents Platform (Asap) provides a collection of software modules for social robots and virtual humans jointly developed by the  Sociable Agents group (SOA) in Bielefeld and the  Human Media Interaction group(HMI) in Twente. In addition to a collection of tools, we also provide the means (through middleware, architecture concepts and shared build and deployment strategies) to compose virtual human or robot applications in which the tools are embedded. Asap embeds the SAIBA architecture for behavior realization (left side of the figure) and enhances it with two essential features for fast and fluent virtual human behavior: a close bi-directional coordination between input processing and output generation, and incremental processing of both input and output.

Citing the Articulated Social Agents Platform:

  1. Kopp, H. van Welbergen, R. Yaghoubzadeh and H. Buschmeier, An architecture for fluid real-time conversational agents: integrating incremental output generation and input processing (2013), in: Journal on Multimodal User Interfaces

Example Interactions and Applications

Provided components


  • HmiBuild: The build system jointly developed by HMI and SOA
  • SoaScript: The package/build tool of AG SOA
  • Ipaaca: Middleware that implements David Schlangen's Incremental Unit architecture in a distributed fashion (over different computers and programming languages)
  • ContinuousIntegration: Continuous integration and daily builds

Behavior Realization:

Behavior Planning:

  •  Flipper: A simple but powerful library for specifying dialogue rules for dialogue systems, that uses XML-templates to describe the preconditions, effects and BML behaviors of these rules.

Computer Animation and Rendering:



  • ImproveDocumentation -- Your support in improving the documentation is highly appreciated
  • ReportBugs -- report bugs and request features using tickets



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