4조_SociallyInteractiveRobots_.ppt

Human Robot Interaction

A Survey of socially interactive robotsA Survey of socially interactive robots

Ansi (Sang-ik An)Ansi (Sang-ik An) Bear (Geonhyeok Go)Bear (Geonhyeok Go) SJ (Sujung Han)SJ (Sujung Han) HARI (Hari Sankar)HARI (Hari Sankar) BK (Byoungkil Han)BK (Byoungkil Han)

44thth Team Team

Human Robot InteractionHuman Robot Interaction

Contents

IntroductionCH1CH1

MethodologyCH2CH2

1.1. The history of social robots

1.2. Social robots and social embeddedness: concepts and definitions


1.4. Why socially interactive robots?

2.1. Design approaches

2.2. Design issues

2.3. Embodiment

2.4. Emotion


Chapter1. IntroductionChapter1. Introduction

44thth Team Team



Individual social robots vs. Group social collective robots



Biologically inspired robots -> Possibility of interaction robot & environment

robot & robot

Walter’s robotic tortoises, Elmer and Elsie (late 1940s) : No explicit communication or mutual recognition



Group-oriented social robots Collective or swarm robot behavior Ant-like robots(early 1990s) Multi-robot or distributed robotic systems Maximizing benefit through collective action Behavior inspired by social insect societies Societies : anonymous, homogeneous groups

Individuals do not matter

Sentinel, Matrix Khepera robots foraging for “food”



Individual social robots Individualized societies(Individual matters) :

mammals Individuals live in groups,

form relationships and social networks, create alliances

Stick to societal norms and conventions

Early “individual” social robots: “getting to know each other” (left) and learning by imitation (right)



Social robots Embodied agents that are part of a heterogeneous group Recognize each other Engage in social interactions Possess histories Explicitly communicate with and learn from each other

Proposed by “Dautenhahan” and “Billiard”


4 classes of social robots(by Breazeal) + 3 classes added

1. Socially evocative Human-like, anthropomorphic

2. Social interface Natural interface by human-like social

cues and communication modalities

3. Socially receptive Learning from interaction

4. Sociable Pro-actively engaging with humans in order to satisfy internal

social aims

Sparky

1.2. Social robots and social embeddedness : concepts and definitions


1.2. Social robots and social embeddedness : concepts and definitions

4 classes of social robots(by Breazeal) + 3 classes added

4. Socially situated Distinguish between other social agents and various

objects in the environments

5. Socially embedded Structurally coupled with social

environment Partially aware of human interactional

structures

6. Socially intelligent Human style social intelligence

R2-D2 and C-3PO from Star Wars


1.3. Socially Interactive Robots (1/4)

Focus on peer-to-peer HRI Robots with “human social” characteristics :

emotion, dialogue, relationship, natural communication, personality, and learning

From B.J. Fogg, Persuasive Technology : Using Computers to Change What We Think and Do



Focus on peer-to-peer HRI common assumption : “humans prefer to interact

with machines in the same way that they interact with real people”

When your computer doesn’t work…



Robot as partners, peers or assistants adaptability and flexibility with a wide range of humans Used as research platforms, as toys, as educational

tools, or as therapeutic aids

(from P.S. Fiske “Put Your Science to Work”)



Human as designer, observer and interaction partner

Requires considering the human in the loop From simple reaction to human behavior, to relying on

humans’ mental states and emotions

From P. Persson et al., Understanding Socially Intelligent Agents – A Multilayered Phenomenon


1.4. Why Socially Interactive Robots? (1/3)

Application domain Robot as “persuasive machine” : used to change

the behavior, feelings or attitudes of humans Robot as “avatar” : a representation of or

representation for the human

Robot Emissary(from the animation “Animatrix”)

Robot Doppelganger(Germinoid, by Hiroshi Ishiguro (right) )



People want robots have social skills develop their interaction skills themselves (learning

machine) support a wide range of users Can be a part of single person’s life

SAIL and Dav, Self-organizing Autonomous Incremental Learner



So, robot designers try to… Embed models of social behavior of humans in the

robot increase robot’s effectiveness …for the robot as “natural” interaction partners

Bender, your drinking partner(from the animation “Futurama”)

Marvin, the paranoid android(from the movie “The Hitchhiker’s Guide to the Galaxy”)

Chapter2. MethodologyChapter2. Methodology

44thth Team Team



2.1. Design Approaches

Robot ShapeRobot Shape

Anthropomorphic Robot(Human-like interaction)

Zoomorphic Robot(Creature-like interaction)

Human Social Expectationenjoyable, feeling empowered, competent interaction

Robot FeatureRobot FeatureFaces

Speech Recognition

Lip-Reading Skill

Social Capacities


2.1. Design Approaches

Design MethodologyHow are socially interactive robots built?

Biologically-inspired Robot

Socially Socially IntelligentIntelligent

Socially Socially InteractiveInteractive

Functionally-designed Robot

Functionally Functionally StructuredStructured

Socially Socially InteractiveInteractive


2.1.1. Biologically Inspired Robot

Anthropology

Structure of Interaction Cognitive Science

Developmental Psychology

Theory of Mind

EthologyInterdisciplinaryResearch

Sociology

- Cognitive, behavioral,

motivational motor

- Perceptual system

- Primary Concepts -1. Naturalistic Embodiment -> “life-like” activity2. Direct Examination about basic scientific theories

COG (MIT/ general purpose humanoid platform)



Ethology Observational study of animals in the

natural setting Natural types of activity -> life-like

robot Ex) AIBO

Structure of Interaction Analysis of interactional structure -> Key interaction patterns -> Focus design of perception &

cognition systems Ex) ROBITA: Turn-Taking in dialogue



Theory of Mind( 마음과학 )

Ex) Joint attention( 상호주의하기 , selective

attention to the object of mutual interest) -> gaze direction, pointing gestures

Developmental Psychology Effective mechanism for creating robots

that engage in natural social exchanges (dialogue)

Ex) Kismet’s “synthetic nervous system” <- Proto-conversational skill of human three-month infants with their caregiver (initiation, mutual-orientation, greeting, play-dialog, disengagement)


2.1.2. Functionally designed Robot

Functionally Functionally StructuredStructured

He is so intelligent He is so intelligent and emotional!!!and emotional!!!

SociallySociallyIntelligentIntelligent

FunctionallyFunctionallyDesigned RobotDesigned Robot

- Constrained operational Constrained operational and performance objectivesand performance objectivesEx) restaurant robot - greeting, serving, cleaning…

- Certain effects and Certain effects and experiences with the userexperiences with the userEx) greeting – joy serving – happiness mistake – sadness …

function1 = happinessfunction1 = happiness function2 = sadnessfunction2 = sadness function3 = angerfunction3 = anger function4 = fearfunction4 = fear



Motivations for functional design Physical Limitation

Short-term interaction Limited quality of interaction Limited embodiment and capability of a robot Constraint by the environment

Effects of Functional Design Affordances(action possibilities) and usability can

be improved even with the limited social expression. (recorded or scripted speech)

Artificial designs can provide compelling interaction. (video games and electronic toys)



Often Used Techniques HCI

Robots are being developed using HCI tech. cognitive modeling, contextual inquiry,

heuristic evaluation, empirical user testing

Systems Engineering Critical-path elements of design -> Effective

and facilitated development and operation Ex) A robot in highly structure domain needs

navigation skills most importantly.



Often Used Techniques (continues) Iterative Design

The process of revising a design through a series of test and redesign cycles

Ex) Willeke’s museum robots – design based on the lessons from preceding generations


2.2. Design Issues

Traditional Robot Design issues Cognition- planning and decision making Environment sensing and navigation Actuation- mobility and manipulation Interface, Inputs and display System dynamics- control architecture,

electro mechanics


2.2. Design Issues

Social Interaction Issues

Human oriented perception Detecting and organizing gestures Monitoring and classifying activity Discerning intent Measuring the feedback from human peers

Natural Human Robot Interaction Believable behavior Keep up with social norms


2.2. Design Issues

Social Interaction Issues

Readable social cues Useful for expression and easy interaction Social cues should be easy to understand Expression, gestures or voice could be adopted

Real-Time performance Should operate at human interaction rates


2.3. Embodiment

Concept of Embodiment Extend to which a system can perturb

the environment and get perturbed by the environment defines embodiment

Also looked upon as the complexity of interaction with the environment

The number of modes of interaction with the environment can also be a measure of the same


2.3.1. Morphology2.3.3. Anthropomorphic 2.3.4. Zoomorphic

Factors affecting the impact and acceptance of a design

Morphology Physical form has a great influence on the desirability,

expressiveness and accessibility of a robot.

Anthropomorphic Resembling human in form makes peer interaction easier

and stronger. Interaction with familiar forms are easier. Appropriate balance of visual illusion and interactive

functionality.

Zoomorphic Entertainment robots and toy robots. Avoiding Uncanny valley is easier as expectation is lower


2.3.2. Design Considerations

If its meant to do tasks for humanness it should portray product ness

If its meant for peer interaction Human ness is important

A considerable amount of

robot ness should be maintained so as to prevent excess confidence in the robot’s abilities

A specific amount of familiarity is to be provided remembering the concept of uncanny valley


2.3.5. Caricatured 2.3.6. Functional

Caricatured Its not essential to be realistic to be believable But it can be used to focus or distract attention on to

or away from certain robotic features.

Functionality – (Should be the primary concern) Embodiment should reflect the task to be performed Health care robots will have handles and carriage

space Toy robots should be cheap attractive and durable.


2.4. Emotion

Emotions play a significant role In human behavior Communication Interaction

Theories used to describe emotions Discrete categories Continuous scales or basis dimensions Componential theory: categories + dimensions

Why emotion is important? People tend to treat computer as they treat

other people

Happy Sad Frustratedpositivevalence

negativevalence

high arousal

low arousalopen stance

closed stance


2.4.1. Artificial emotion

Artificial emotion used in social robots Emotion helps HRI Provide feedback to user Act as a control mechanism

How robot display emotion? From small DOF to many DOF Kismet


2.4.2. Emotions as control mechanism

Determine control priority Different behavior mode Trigger learning and adaptation

Example – Sage Person blocking Sage’s path

[frustrated] “I am giving a tour to these visitors right now. Please

let me continue!”

[happy] playful and enticing, engaging the visitor and inviting

the person on a tour


2.4.3. Speech

Emotional speech Effective method for communicating Parameters

Loudness Pitch: level, variation, range Prosody

Kismet’s vocalization system


Shortage of facial expression Limitation of mechanical design

Abrupt change rarely occurs in nature

Mechanical approach Varies with DOF of actuators Feelix, Kismet, Saya

Computer grahpic approach Vikia

fearsurprise

anger

neutralsadnesshappy

2.4.4. Facial Expression


2.4.5 Body language

Importance of body language 90% of gesture occur during speech Strong tendency to be cued by body language

Emotional body movements Anger Fear Happiness Sadness Surprise


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4조_SociallyInteractiveRobots_.ppt