Towardsociablerobots面向交际的机器人计算机专业英语课程论文.doc

计算机专业英语计算机专业英语 课程论文课程论文 论文题目 Toward sociable robots 面向交际的机器人 学生姓名 学号 所在学院信息学院 所在班级计科 1111 班 指导教师彭伟民 提交时间2013 年 10 月 30 日 成绩 目录 0 目目 录录 目 录 1 ABSTRACT 摘要 2 KEYWORDS 关键字 3 1 INTRODUCTION 简介 3 2 PARADIGMS OF SOCIAL ROBOTS 交际机器人的样式 4 3 OUR SOCIABLE ROBOT KISMET 我们的交际机器人 使命 10 4 REGULATING THE EXCHANGE OF SPEAKING TURNS 调节说 话轮流交换 11 4 1 Vocal turn taking experiments 声音开启试验 13 4 2 Evaluation 评价 15 5 DISCUSSION 论述 19 6 CONCLUSION 结论 22 ACKNOWLEDGEMENTS 致谢 22 APPENDIX A 附录 A 23 REFERENCES 参考文献 25 VITAE 个人简历 26 计算机专业英语 课程论文 1 Robotics and Autonomous Systems 机器人和自主系统机器人和自主系统 Volume 42 Issues 3 4 31 March 2003 Pages 167 17542 卷 3 问题 4 2003 月 31 167 175 页 Socially Interactive Robots 交际互动的机器人 Toward sociable robots Cynthia Breazeal MIT Media Lab 77 Massachusetts Ave NE 18 5FL Cambridge MA 02139 USA 面向交际的机器人 辛西娅 布雷齐尔 MIT 媒体实验室 马萨诸塞州 77 大道 北 18 5fl 剑桥 MA 02139 美国 Abstract 摘要摘要 This paper explores the topic of social robots the class of robots that people anthropomorphize in order to interact with them From the diverse and growing number of applications for such robots a few distinct modes of interaction are beginning to emerge We distinguish four such classes socially evocative social interface socially receptive and sociable For the remainder of the paper we explore a few key features of sociable robots that distinguish them from the others We use the vocal turn taking behavior of our robot Kismet as a case study to highlight these points 本文探讨的话题是交际机器人 为了与人类互动而诞生的人格化机器人 自 从这样的机器人应用的多样性和数量的增加 一些相互作用的不同的模式开始 出现 我们区分为四类 有亲和力 能与人交流 适应社会 善于交际 本文 的其余部分 我们探讨一些关键功能的交际机器人区别于其他人 我们用声音 开启我们的机器人 使命 作为一个案例研究去突出这一点 计算机专业英语 课程论文 2 Keywords 关键字关键字 Sociable robots Human robot interaction Humanoid robots Facial expression Social interaction 交际机器人 人类 机器人互动 仿真机器人 面部表情 交际互动 1 Introduction 简介简介 Recent commercial applications are emerging where the ability to interact with people in an entertaining engaging or anthropomorphic manner is an important part of the robot s functionality A new generation of robotic toys have emerged such as Tiger Electronic s hamsters like Furby or Sony s robotic dog Aibo whose behavior changes the more children play with it Video games such as Creatures allow the participant to genetically design graphical critters and then interact with them Lego Mindstorms takes a more engineering approach providing people with a robot toolkit 最近的商业应用 出现了一个有趣的 引人入胜的 或拟人化方式的与人 交往的能力 是机器人的功能的一个重要组成部分 新一代的机器人玩具出现 如虎电子仓鼠像菲比或索尼的机器狗 AIBO 的行为变化促使了更多的孩子 与它们玩耍 视频游戏 如生物 让参与者的 基因 设计的图形动物 然后 与他们互动 乐高机器人采用了更多的工程方法 为人们提供了一个机器人工 具包 Although the ability of these products to interact with people and people s ability to interact with them is limited they are motivating the development of increasingly life like and socially sophisticated robots Mediated communication through robotic avatars would allow one to have a physical and social presence to others despite being geographically distant Location based entertainment applications such as museum tour guide robots 13 offer not only entertainment value but also provide visitors with information of interest Health related applications are being explored such as robot nursemaids that help the elderly or robotic pets such as Omron s NeCoRo that are intended to provide some of the health related benefits of pet ownership NASAs humanoid robot Robonaut developed at the Johnson Space Center is envisioned to be an astronaut s assistant The success of these robots hinges not only on their utility but also on their ability to be responsive to and interact with people in a natural and intuitive manner 虽然这些产品与人交往的能力 与人的互动与他们的能力 是有限的 它 计算机专业英语 课程论文 3 们是发展越来越生活化和有更有社会经验的机器人 尽管相距遥远 介导的通 信通过机器人化身将允许一个物理和社会存在的人交流 基于场所的娱乐应用 如博物馆导游机器人 13 不仅提供娱乐价值也提供游客感兴趣的信息 与健 康相关的应用正在探索 如机器人保姆帮助老年人 或机器宠物 如欧姆龙的 尼克罗 的目的是提供一些有益健康的宠物 美国宇航局的人形机器人 机器 宇航员 在约翰逊航天中心开发的设想成为一个宇航员的助手 这些机器人的 成功不仅取决于它们自己的功能也取决于他们以自然和直观的方式去回应和与 人们互动的能力 2 Paradigms of social robots 交际机器人的样式交际机器人的样式 It is important to recognize that humans are a profoundly social species Our social emotional intelligence is a useful and powerful means for understanding the behavior of and for interacting with some of the most complex entities in our world people and other living creatures 12 Faced with non living things of sufficient complexity i e when the observable behavior is not easily understood in terms of its underlying mechanisms we often apply a social model to explain understand and predict their behavior as well 15 For instance we are all familiar that people anthropomorphize all sorts of technologies e g cars computers etc The studies of Premack and Premack 14 show that people attribute mental states i e intents beliefs feelings desires etc to describe the behavior of interacting shapes on a screen Even Braitenberg 4 often uses such mentalistic terms to describe the behavior of his ingenious vehicles Right or wrong people rely on social models or fluidly switch between using a social model with other mental models to make complex behavior more familiar and understandable and more intuitive with which to interact We do this because it is enjoyable for us and it is often surprisingly quite useful 认识到人类是一个深刻的社会物种很重要 我们的社会情绪智力是一个有 用的和强大的理解行为方式 并与我们的世界中一些人和其他生物的 12 最 复杂的实体互动 面对非生物足够的复杂性 即 当观察到的行为在机制方面 不是很容易理解 我们经常应用社会模型来解释 理解 和预测他们的行为 15 例如 我们都很熟悉人们赋予人性的各种技术 例如 汽车 电脑 等 普雷马克研究和普雷马克 14 表明 人们的心理状态归因的研究 即 意图 信仰 情感 欲望 等等 来描述相互作用的形状在屏幕上的行为 即使 Braitenberg 4 经常使用这种唯心主义的术语来描述他的巧妙的车辆的行为 对或错 人们依靠社会模式 或使用一个社会模式与其他心理模型之间的流体 计算机专业英语 课程论文 4 交换 使复杂的行为更多的熟悉和理解更直观的 交互的 我们这样做是因为 它让我们愉快 而且它往往是出人意料地很有用 We argue that people will generally apply a social model when observing and interacting with autonomous robots Autonomous robots perceive their world make decisions on their own and perform coordinated actions to carry out their tasks As with living things their behavior is a product of its internal state as well as physical laws Augmenting such self directed creature like behavior with the ability to communicate with cooperate with and learn from people makes it almost impossible for one to not anthropomorphize them i e attribute human or animal like qualities We refer to this class of autonomous robots as social robots 1 i e those that people apply a social model to in order to interact with and to understand 我们认为 人们在观察和自主机器人的相互作用时一般会运用交际模型 自主机器人感知世界 做出自己的决定 和执行协调一致的行动来进行他们的 任务 随着生活的东西 他们的行为是一种产品 其内部状态以及物理定律 充实自我 像与沟通能力 行为的配合 并从中学习的人几乎不可能使一个非 人格化 即 他们赋予人类或动物般的品质 我们指的这一类的自主机器人为 交际机器人 1 即 那些人申请一个交际的模型 以互动和理解 This definition is based on the human observer s perspective One can further distinguish several subclasses of social robots by viewing matters from the robot s perspective Namely given that people will apply a social model in order to understand and interact with such robots to what extent does the robot design support and validate this model To what extent do these anthropomorphic attributes map to computational entities within the robot To what extent does the robot apply a social model to understand people Basically to what extent is the robot a full fledged social participant 这个定义是基于人类观察者的观点 你可以进一步通过从机器人的角度来 看问题区分各种交际机器人的子类 即 因为人们会为了申请一个交际的模型 来理解与机器人互动 在何种程度上的机器人的设计支持和验证了该模型的有 效性 在何种程度上这些拟人化的属性映射到计算实体内的机器人 在何种程 度上的机器人应用的社会模型来理解人 基本上 在何种程度上是机器人完善 社会参与 This is fundamentally an appearance versus reality question does the robot 计算机专业英语 课程论文 5 only appear to be socially intelligent or is it genuinely so We argue that the robot s design does not have to be indistinguishable from human analogs to serve the same function or to exhibit the same competence i e to be genuine One could imagine various subclasses of social robots as lying along an appearance verses reality continuum 这根本就是一个 外观与现实 的问题 机器人只是看起来交际智能的 吗 还是真的 我们认为 机器人的设计不一定是从人的类似物的区分提供 相同的功能或表现出相同的能力 即 是真的 你可以想象一下各种交际机器 人的子类谈吐不凡的样子 Another way to look at this distinction is in terms of the brittleness of the design namely when does the robot s behavior no longer adhere to the person s social model for it Once this occurs the usefulness of the person s social model for the robot has been marginalized it breaks down A robot that only appears to be socially intelligent is believable 2 This may be completely acceptable for a sufficiently structured scenario such as theme park entertainment where the audience s interaction with the robot is highly constrained 另一种方式来看待这个区别是从设计的脆性 即 当机器人的行为不再拘 泥于个人的交际模式吗 一旦这种情况发生 为机器人的人的交际效用模型已 被边缘化分解 一个机器人 似乎是唯一的交际智能是 可信的 2 这可 能是完全可以接受的足够的结构化场景 如观众与机器人的互动是高度的限制 的主题公园娱乐活动 As the complexity of the environment and the scenario increases however the social sophistication of the robot will clearly have to scale accordingly If the robot s observable behavior adheres to a person s social model for it during unconstrained interactions in the full complexity of the human environment then we argue that the robot is socially intelligent in a genuine sense Basically the person can engage the robot as one would another socially responsive creature and the robot does the same At the pinnacle of performance this would rival human human interaction However we take the position that dogs for instance are another socially responsive species socially intelligent in a genuine sense although their social sophistication is less than that of a human Hence this criterion for success should not be confused with trying to build a robot that is indistinguishable from a human inside and out the appearance of the robot and its internal design details can be quite different from the human 计算机专业英语 课程论文 6 counterpart what matters is how it interacts face to face with people and how people interact with it in the human environment One could imagine devising a sort of test for sociability where the behavior of both the human and the robot are evaluated in order to determine success 随着环境和场景复杂性的增加 然而 机器人的交际复杂显然也会出现相 应的规模 如果机器人的可观察行为 坚持一个人的交际模式 它能在人类相 互作用过程环境中的复杂性不受约束 这样我们就认为机器人在一定意义上是 真正交际智能的 从根本上说 人可以把机器人作为另一个社会响应的生物 机器人本来也是这样的 在表演的顶峰 这将竞争对手的人 人类的相互作用 然而 我们以狗作为例子 它在一定意义上是一种社会智能的物种 虽然他们 的交际的复杂性是低于人类的 因此 这个成功的标准不应该与试图建立一个 跟人体内外没有区别的机器人 也就是说机器人的外观和内部设计细节可以跟 人不同 产生混淆 重要的是如何面对面交流 以及人们如何与它交互的环境 你可以想象出一种对人类和机器人的行为进行评估 以确定成功的测试社交 Although the field of social robots and their design is still fairly new we can begin to distinguish several subclasses of social robots from existing applications and examples In all cases people are inclined to anthropomorphize these robots in order to interact with them As one moves successively through the list the design of the robot increases in its ability to support the social model in more complex environments i e approaching the human social environment and for more complex scenarios i e approaching human style face to face interaction 虽然交际机器人和他们的设计仍然是相当新的领域 我们可以从现有的应 用程序和实例开始区分各种交际机器人的子类 在所有的情况下 人们倾向于 人格化这些机器人为了与他们互动 作为一个依次通过列表的动作 在更复杂 的环境支持能力 增加交际模型的机器人设计 即接近人类社会环境 和更复 杂的情况 即 接近人类的方式面对面的互动 Socially vocative As the term implies this subclass is designed to encourage people to anthropomorphize the technology in order to interact with it but goes no further This is quite common in toys where a nurture model is leveraged to yield an entertaining interaction e g Tomogotchis and a wide variety of robotic pets Also popular typically in video games such as Creatures is to use a creator inventor model where participants breed or engineer animated creatures to interact with them The act of creating these simple creatures encourages the participant to feel more 计算机专业英语 课程论文 7 invested in their creation s lifespan In short the human attributes social responsiveness to the robot but the robot s behavior does not actually reciprocate 有亲和力 顾名思义 这类的目的是鼓励人们去实现人格化的技术 与它 们进行交互 但却没有 这是很常见在培育新型杠杆产生一个有趣的相互作用 的玩具 例如 tomogotchis 和各种各样的机器人 宠物 最具有代表性的 是在视频游戏方面也很受欢迎 如 生物 这个游戏就是使用一个创造者 发明 家 主要参加者有 种子 和活生生的生物 模型来与它们互动 在这个 创 造 的过程 这些简单的生物鼓励了参与者感受到在它们创作的 寿命 中的 更多投资 总而言之 人类认为机器人是有交际反应 可是机器人的行为实际 上又没有表现出来 Social interface This subclass of robots uses human like social cues and communication modalities in order to facilitate interactions with people i e to make the interactions more natural and familiar For instance one might adopt a performance model to communicate with others from far away using a robot avatar giving the distal person both a physical presence and social presence to others In this case such a robot would need sufficient social intelligence to appropriately convey or perform a person s message to others complemented with gaze gestures facial expression etc More commonly an interface model is used such as robot museum tour guides where information is communicated to people using speech and sometimes with reflexive facial expressions Because this class of robot tends to value social behavior only at the interface the social model that the robot has for the person tends to be shallow if any and the social behavior is often pre canned or reflexive 能与人交流 这类机器人为了促进与人互动 使用类似人类的社会的线索 和通信方式 即 使交互更自然和熟悉 例如 人们可能从很远的地方采取用 机器人化身的性能模型与他人沟通 给远端的人都自然存在和社会存在的人 在这种情况下 这样的机器人需要足够的交际智能地传达 或执行 一个人的 讯息 辅以手势 凝视 面部表情等 更常见的是 一个交流模型的应用 如 博物馆导游机器人 其中有时使用语音和与自反性面部表情传达给人们信息 因为这类机器人有价值的社会行为只在交流 使人往往认为机器人是肤浅的交 际模式 如果有 和交际行为往往是先罐装或反射 Socially receptive Whereas the benefits of socially communicative applications e g those described in the previous paragraph are dominantly measured from the human s perspective socially receptive robots also benefit from interactions with 计算机专业英语 课程论文 8 people Such examples often involve robots that learn from interacting with people through human demonstration following a training model such as acquiring motor skills 1 or a proto language 3 Cognitive modeling of a particular competence is more popular in this subclass Interactions with people affect the robot s internal structure at deeper levels such as organizing the motor system to perform new gestures or associating symbolic labels to incoming perceptions People can shape the robot s behavior through other social cues such as using gaze direction or head pose to direct the robot s attention to a shared reference 16 This class of robots tends to be more perceptive of human social cues allowing people to shape the robot s behavior in richer ways They are socially passive however responding to people s efforts at interacting with them but not pro actively engaging people to satisfy internal social aims 适应社会 而社会交际应用的好处 例如 在前一段中所描述的 是从人 的角度测量为主 适应社会的机器人也获得来自与人互动的利益 这样的例子 往往涉及的机器人是通过人的示范的行为交往自学 以下培训模式 如获得运 动技能 1 或原语言 3 一个特定的能力 认知建模是更受欢迎的 与 人们的互动更高水平地影响了机器人的内部结构 如机器人组织电机系统表达 新的手势 或关联感知的符号 人们可以通过其他的交际线索 如使用视线方 向或头部姿势指引机器人的注意力 来对机器人行为的形成情况有一个共享的 参考 16 这类机器人更趋于了解人类交际的线索 让人们对机器人行为的 形成方式有了更丰富的了解 他们在交际方面是被动的 然而 它能回应人们 的努力 与之互动 但是它不积极与人互动 来满足其内部的交际需求 Sociable Sociable robots are socially participative creatures with their own internal goals and motivations They pro actively engage people in a social manner not only to benefit the person e g to help perform a task to facilitate interaction with the robot etc but also to benefit itself e g to promote its survival to improve its own performance to learn from the human etc 6 Hence social interactions with people are valued not just at the interface but at a pragmatic and functional level as well Such robots not only perceive human social cues but at a deep level also model people in social and cognitive terms in order to interact with them The design of the robot maps the human s social model for it to underlying computational entities Hence the robot s social behavior is a product of its computational social psychology 善于交际 交际机器人是有 自己内部的目标和动机 积极参与交际的 计算机专业英语 课程论文 9 生物 他们积极参与交际的方式 不仅给人们带来了好处 例如 帮助执行 任务 便于与机器人互动 等 也为了自己的带来了好处 例如 以促进其存 活率 提高自己的表现 向人学习等 6 因此 人们的社会交往的价值不 只是在界面 也在语用和功能水平上 这种机器人不仅提供了人类交际的线索 为了跟人类互动 他们更高水平地模仿人们交际和认知的能力 机器人的设计 图详细规划了人的交际模式 因此 机器人的交际行为是其计算社会的 心理 产品 3 Our sociable robot Kismet 我们的交际机器人 使命我们的交际机器人 使命 This remainder of this paper focuses on the last paradigm robot as sociable creature We highlight a few core attributes of sociable robots by means of a small case study the design and evaluation of the vocal turn taking behavior of our robot Kismet see Fig 1 One does not use Kismet to perform a task Instead Kismet is designed to be a robotic creature that can interact physically affectively and socially with humans in order to ultimately learn from them Accordingly our robot is designed to elicit interactions with the human that afford rich learning potential We have endowed Kismet with a substantial amount of infrastructure that we believe will enable the robot to leverage from playful infant like interactions to foster its social development 本论文的剩余部分集中关注最后的范式 机器人作为交际性生物 我们强 调交际的机器人的几个核心属性通过一个小案例研究的声音开启我们的机器人 行为评价设计 使命 见图 1 一个不使用 使命 执行任务的机器人 相反 使命的设计是一个为了最终向人类学习可以从身体姿态 情感和社会方 面跟人类互动的机器人的生物 因此 我们的机器人的设计目的是引起与提供 丰富的学习 潜力的人类的相互作用 我们已赋予 使命 以大量的我们相信 将使机器人以好玩的 婴儿般的相互作用促进社会发展的基础设施 计算机专业英语 课程论文 10 Fig 1 Kismet is an expressive anthropomorphic robot head Three degrees of freedom direct the robot s gaze another three control the orientation of its head and the remaining 15 move its facial features e g eyelids eyebrows lips and ears To visually perceive the person who interacts with it Kismet is equipped with a total of four color CCD cameras A lavalier microphone worn by the person is used to process their vocalizations 图 1 使命是一个表达的拟人机器人头部 三自由度机器人的目光直接控制 另外三头的 方向 其余 15 将其面部特征 例如 眼睑 眉毛 嘴唇 和耳朵 视觉感知的人与它的 人 使命是配备了共四个彩色 CCD 摄像机 一种式话筒的人戴的是用来处理他们的发声 These skills and mechanisms help it to cope with a complex social environment to tune its responses to the human and to give the human social cues so that he she is better able to tune him herself to Kismet This allows the robot to be situated in the world of humans without being overwhelmed or under stimulated 5 Currently these skills include the ability to direct the robot s attention to establish shared reference 10 and 16 the ability to give readable expressive feedback to the human 7 the ability for the robot to recognize expressive feedback such as praise and prohibition 9 the ability to take turns to structure the learning episodes 8 and the ability to regulate interaction to establish a suitable learning environment 7 Due to space limi