Lecture-SHS-Androids-Therapy：讲座SHS机器人疗法.ppt

A.G. Billard, Autonomous Robots Class Spring 2007,Course SHS Program in Cognitive Psychology Spring 2007 Human-Robot Interaction User-centred design of social robots Aude G Billard Learning Algorithms and Systems Laboratory - LASA EPFL, Swiss Federal Institute of Technology Lausanne, Switzerland aude.billardepfl.ch,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Body,Why is Aesthetic important?,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Body,It is a truism that people will be more inclined to interact with “attractive” faces than with “unattractive” ones. Typical appealing features are large eyes, symmetric and round faces, pink cheeks and big eyelashes. Dolls faces versus Monsters faces?,C. DiSalvo, F. Gemperle, J. Forlizzi, and S. Kiesler. All robots are not created equal: The design and perception of humanoid robot heads. In Proc. Designing Interactive Systems, pages 321: 326, 2002.,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Body,19th-20th Century: Automata (Automated toys) Mimicking the body and behavior of an animals Only one single behavior Completely preprogrammed in the mechanics The aesthetic was very important pieces of art,SDR-3X, Sony Dream Robot 50cm, 5 Kg, 24 DOFs OS: Aperios, OPEN-R, 16MB memory stick CCD Color Camera, Microphone (x2), IR distance, Acceleration, Touch Detection (x8), Speaker Walking Speed, 15m per minute,HOAP-1 Fujitsu Laboratory Ltd. 48 cm, 6 kg, 20 DOF, OS: RT-Linux USB 1.0 (12Mbps),PINO Kitano ERATO Project, Tokyo Sound and Vision,Mini-Humanoids,Baby Robots,My Real Baby (2000) IRobot Corp, Boston, USA,Robota (1997-2002) Univ. of Edinburgh 1997-1998, EPFL (Switzerland) 1998-1999 DIDEL SA (Switzerland) 1999-2007 CSI, Paris, France 2000-2002 USC, Los Angeles,2001-2002,Image of My Real Baby,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Body,“uncanny valley“Mori 1970,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Face,Surprisingly, however, many of the humanoid robots developed so far have more in common with monsters than with dolls.,Maverick, 2001 RIKEN & USC,Berthoc, 2006 Univ. Bielefeld,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Face,Another set of attempts,University of Pisa & Jet Propulsion Lab,Kobayashi / Ishiguros Lab Science University of Tokyo, 2001,A.G. Billard, Autonomous Robots Class Spring 2007,Human-like body,BiPed Locomotion,Kawato Erato Project, ATR, Kyoto, Japan,YFX Studios, Japan, USA,Binocular Vision,Anthropomorphic Hands Anthropomorphic Arms,University of Karslruhe, Germany,BIP 2000, CRNS, France,Anthropomorphic Head,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Body,Repliee R1: Ishiguros lab, Osaka Univ. This android has 9 degree of freedom in her head. She can move her eyes, eyelids, mouth, and neck. Its body is covered with silicone, so the skin feels humanlike. And it has 4 high sensitivity skin sensors under the skin.,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Body,Repliee R2: Ishiguros lab, Osaka Univ. Facial expressions of the adult android: 13 of the 42 actuators are used in the head. Humanlike facial expressions are realized by the motion of the eyes and mouth.,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Body,Together with the company Kokoro, Ishiguros lab at Osaka Univ has developed a new life-like android called Actroid DER2. This android looks very human and talks and moves its head, arms, hands, and body. This android is available for rental now at the rate of $3,500 for 5 days.,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Face,And, finally, he cloned himself!,Geminoid , Ishiguros Lab, Osaka University Hiroshi Ishiguro would say that his Geminoid is like a twin!,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Face,The realism of the facial expressions are as important as the overall aesthetic of the face,A.G. Billard, Autonomous Robots Class Spring 2007,Expressing Emotions,The Kismet Robot, C. Breazael, MIT, 1999,Sad Happy Surprised,Designing Robots Faces,A.G. Billard, Autonomous Robots Class Spring 2007,Expressing Emotions,Feelix robot by L. Canamero, MIT, 1999,From left to right and top to bottom: neutral, anger, sadness, fear, happiness, and surprise.,Designing Robots Faces,L. Canamero, J Fredslund, I show you how I like you-can you read it in my face, IEEE Transactions on Systems, Man and Cybernetics, Part A, 2001,A.G. Billard, Autonomous Robots Class Spring 2007,Designing Robots Faces,Mike Blow, Kerstin Dautenhahn, Andrew Appleby, Chrystopher L. Nehaniv, David Lee, The Art of Designing Robot Faces - Dimensions for Human-Robot Interaction, Proc. AMC/IEEE HRI06, Salt Lake City, Utah, USA, 2006, pp. 331 - 332.,Kaspar has 8DOF head and two 6DOF arms. Rational behind the development of Kaspar is: consistency of appearance and complexity between the head, body and hands to aid natural interaction minimal expressive features to create the impression of sociability,A.G. Billard, Autonomous Robots Class Spring 2007,The Aesthetic of the Face,Mike Blow, Kerstin Dautenhahn, Andrew Appleby, Chrystopher L. Nehaniv, David Lee, The Art of Designing Robot Faces - Dimensions for Human-Robot Interaction, Proc. AMC/IEEE HRI06, Salt Lake City, Utah, USA, 2006, pp. 331 - 332.,A.G. Billard, Autonomous Robots Class Spring 2007,Designing Robots Faces,Mike Blow, Kerstin Dautenhahn, Andrew Appleby, Chrystopher L. Nehaniv, David Lee, The Art of Designing Robot Faces - Dimensions for Human-Robot Interaction, Proc. AMC/IEEE HRI06, Salt Lake City, Utah, USA, 2006, pp. 331 - 332.,e.g. a Photograph,e.g. Comics faces,e.g. Picassos cubic faces,A.G. Billard, Autonomous Robots Class Spring 2007,Expressive Body Movements,Keepon (Kozimas group, CRL, Japan): Very simple but powerful design to convey joint attention and turn taking behavior,A.G. Billard, Autonomous Robots Class Spring 2007,Keepons kinematic mechanism. Two gimbals are connected by four wires; the lower gimbal is driven by two motors. Another motor rotates the whole inner-structure; yet another drives the skull downward for bobbing.,Expressive Body Movements,A.G. Billard, Autonomous Robots Class Spring 2007,Attentive action Directing the head up/down and left/right so as to orient Keepons face/body to a certain target in the environment. Keepon seems to be perceiving the target. This action includes eye-contact and joint attention. Emotive action Keeping its attention in a certain direction, Keepon rocks its body from side to side and/or bobs its body up and down. Keepon seems to express emotions (like pleasure and excitement) about the target.,Expressive Body Movements,A.G. Billard, Autonomous Robots Class Spring 2007,Robota: Educational and Therapeutic Toy,Designing Robot Toys,SDR-3X, Sony Price: Luxury car ($100000.-),Robota, DIDEL SA Price: $2800.-,My Real Baby, IRobot Corp Price: $100.-,Robota fills a gap in the market: It is an affordable humanoid robot Teaching toy: It provides a nice basis for child-robot interaction Education: It has development software, you can have several robots in a class room,What is the use of Robota?,Image of SDR-3x,Image of My Real Baby,A.G. Billard, Autonomous Robots Class Spring 2007,Design Issues behind Robota,Robotas Body: Cuteness Human-likeness, i.e. respecting the body proportion of a young child (between 16 and 20 months old), Naturalness of the motions, i.e. the robots motions should be human-like.,Robotas Capabilities: Provided with capabilities for interactions that a child of this age would display: To recognize human faces and direct its gaze towards the user, To understand and learn a restricted vocabulary Simple imitation of the users motion,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,First Prototype,Univ of Edinburgh, 1998,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,Learning Dance Movements,Univ of Edinburgh, 1998,First Prototype,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,LAMI - EPFL, 1999 In collaboration with Jean-Daniel Nicoud and Andre Guignard,Second Prototype,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,Second Prototype,Billard, A. (2003) Robota: Clever Toy and Educational Tool. Robotics & Autonomous Systems, 42, 259-269.,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,Robota The Product,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,Robota The Product,Since 1999, Robota is a commercial product sold by DIDEL SA, Switzerland,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,Three degrees of freedom: 1 for horizontal binocular motion 2 for vertical motion (separate blinking) Aesthetic: all components within the head,ROBOTAS EYES,Pongas, D., Guenter, F., Guignard, A. and Billard, A. (2004) Development of a Miniature Pair of Eyes With Camera for the Humanoid Robot Robota. IEEE-RAS/RSJ International Conference on Humanoid Robots.,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,ROBOTAS EYES,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,2 USB Cameras VGA (640X480) 15 frames per second,Robotas eyes,IEEE Conf. In Humanoid Robotics, HUMANOIDS04,Designing Robot Toys,A.G. Billard, Autonomous Robots Class Spring 2007,Body and Brain must Match,It is fundamental that the robots cognitive capabilities match its physical appearance. An “adult-like” humanoid robot will be expected to produce adult-like capabilities (understanding of speech and complex manipulation capabilities). Conversely, if one interacts with a baby-like robot, one will probably have lower expectations on the robots speech and manipulation capabilities.,A.G. Billard, Autonomous Robots Class Spring 2007,Designing the body and the brain of a robot,Why are the key criteria? The robots body creates expectations in terms of the robots capabilities. If these do not match, the robot loses some of its believability and of its appeal.,What are the main challenges? To manage to endow the robot with complex facial and body expressions, while not loosing the aesthetic of the robot. To better understand the complex and subtle effects that each of these features have on human-robot interaction.,A.G. Billard, Autonomous Robots Class Spring 2007,The importance of having human-like motions,Ishiguros Android driven by sinusoid-like motions,Real-time mapping of human motion on the Android,A.G. Billard, Autonomous Robots Class Spring 2007,The Kindness of the Behaviour,Ri-Man robot from Riken,A.G. Billard, Autonomous Robots Class Spring 2007,Goal: Creates gaze contact and change gaze directionality with focus of interest Development: Oculo-motor control, eye-head coordination, visuo-audio control,Infanoid, CSL, ATR, Kyoto,Robita, Waseda University,Human-like behavior,A.G. Billard, Autonomous Robots Class Spring 2007,Goal: Teaching the robot through imitation Development: From recognizing to categorizing, learning and reproducing gestures gestures,Human-like behavior,Darrin Bentivegna, ATR, Kyoto,Infanoid, CSL, ATR, Kyoto,A.G. Billard, Autonomous Robots Class Spring 2007,4 different scenarios were studied in the trials where a robot approached the subject who was located in the living room: 1) Seated on a chair in the middle of an open space. 2) Standing in the middle of an open space. 3) Seated at a table in the middle of an open space. 4) Standing with their back against a wall.,Human-like behavior,Subject seated on a chair,Subject standing against a wall,Sarah Naomi Woods, Michael Leonard Walters, Kheng Lee Koay, Kerstin Dautenhahn (2006) Methodological Issues in HRI: A Comparison of Live and Video-Based Methods in Robot to Human Approach Direction Trials. Proc. The 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06).,A.G. Billard, Autonomous Robots Class Spring 2007,The main findings were: Humans strongly did not like a direct frontal approach by a robot, especially while sitting (even at a table) or while standing with their back to a wall. An approach from the front left or front right was preferred. When standing in an open space a frontal approach was more acceptable and although a rear approach was not usually most preferred, it was generally acceptable to subjects if physically more convenient.,Human-like behavior,Sarah Naomi Woods, Michael Leonard Walters, Kheng Lee Koay, Kerstin Dautenhahn (2006) Methodological Issues in HRI: A Comparison of Live and Video-Based Methods in Ro