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8/12/2019 Luis Paulo Reis Waf2014
1/15
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1
Lus Paulo Reislpreisdsi!umin"o!pt
#ember o$ t"e %ire&ti'e (oard o$ LI)CC * )rti$i&ial Intelligen&e and Computer +&ien&e Lab!
)sso&iate Pro$essor at +&"ool o$ ,ngineering .ni'ersity o$ #in"o Portugal
President o$ t"e Portuguese +o&iety $or Roboti&s
Key Issues and New Trends inHuman-Robot Intelligent
Cooperation
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /
Presentation 0utline
)rti$i&ial Intelligen&e Roboti&s and +imulation
C Portugal Pro2e&t and Teams $or Roboti& +o&&er
Intellw"eels Pro2e&t * Intelligent 3"eel&"air wit"#ultimodal Inter$a&e
Hearbot Pro2e&t * Robot %an&ing4)udition
Con&lusions and uture 3or5
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7
)rti$i&ial Intelligen&e
Intelligen&e
Capa&ity to solve new problems through theuse of knowledge
)rti$i&ial Intelligen&e
Science concerned with building intelligent ma&"ines,
that is, machines that perform tasks that when performedby humans require intelligence
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8
)utonomous )gents and #ulti-)gent +ystems
)gent:
Computational System, situated in a
given en'ironment, that has the ability
to per&ei'e that environment using
sensors and a&t, in an autonomous
way, in that environment using its
a&tuators to fulfill a given $un&tion.
#ulti-)gent +ystem: Agents ehibit autonomous
be"a'ior
Intera&t with other agents in thesystem
?
agent
percepts
sensors
actions
effectors
environment
Russeland Norvig,AI: A Modern Approach,1995
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9
Intelligent Roboti&s Roboti&s
Science and technology for pro!ecting, building,programming and using "obots
Study of Roboti& )gents wit" body;
#ncreased Compleity$ ,n'ironments: %ynamic, #naccessible, Continuous and &on
%eterministic'
(erception$ )ision, +ensor usion
Action$ "obot Control *humanoids, increasing %+s-
"obot Architecture *(hysical Control-
&avigation in unknown environments
Intera&tion with other robotshumans
/ulti0"obot Systems
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation apan-
?@@B 1(ari s *rance-
?@@@ 1 Stockholm *Sweden-DDD 1/ elbourne *Australia-
DD? 1 Seattle *8SA-
DD 1 ukuoka *>apan-
DDE 1(adua *#taly-
/EE8 * Lisbon Portugal-
DDF 1 +saka *>apan-
/EE< * (remen Fermany;
DD 1 Atlanta *8SA-
/EE? * +uu"u C"ina;
DD@ 17ra4 *Austria-
D?D 1 Singapore *Singapore-
D?? 1 #stanbul *9urkey-
D? 1 /eico City */eico-
D?E 1 :indhoven *3olland-
/E18 * oJo Pessoa (rail;
Lo&al C"ampions"ips:7erman +pen *:uropean-, >apanese +pen, Australian+pen, American +pen, Portuguese 0pen, %utch +pen,#ranian +pen, China +pen, ;A"SS2"6
Parti&ipant4)warded Countries:7ermany, 8SA, >apan, China, #ran, Portugal 2ra4il,
Australia, 3olland, Singapore
Soccer ;eagues+imulation: +im/% +im7% Humanoids; Coa&" #RRobots +mall-+ieRobots #iddle-+ie+tandard Plat$orm *)iboG N)0-3umanoid "obots *Hid, Adult-
"oboCup "escue+imulation, )irtual, "obotic
"oboCup >uniorRoboCupHome"oboCupI
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1B
esti'al Na&ional de Robti&a - Portugal
,spin"o near Porto; 19-1? #ay /E18 Portugal
B Competitions 1EE Teams
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /9
+imulation 7% * +p"eres model
DDM0DDF$ )ery 2asic playing'
DDK$ ormations3igh0level playing'
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /
+etplay %e$inition
(setplay :name simpleCorner
:players (list (playerRole :roleName CornerP)
(playerRole :roleName receiver) (playerRole :roleName shooter))
:steps (seq (step :id 0 :waitTime 15 :abortTime 70
:participants
(list (at CornerP (pt :x 52 :y 34))
(at receiver (pt :x 40 :y 25)) (at shooter (pt :x 36 :y 2)))
:condition (playm fk_our)
:leadPlayer CornerP
:transitions (list
(nextStep :id 1:condition (canPassPl :from CornerP :to receiver)
:directives (list
(do :players CornerP :actions (bto :players receiver))
(do :players receiver :actions (receivePass))))))
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8?
+etplay %e$inition
(step :id 1 :waitTime 5 :abortTime 70
:participants (list (at CornerP (pt :x 52 :y 34)) (at receiver (pt :x 40 :y 25))
(at shooter (pt :x 36 :y 2)) )
:condition (and (bowner :players receiver) (playm play_on)) :leadPlayer receiver
:transitions (list
(nextStep :id 2
:condition (canPassPl :from receiver :to shooter)
:directives (list
(do :players receiver :actions (bto :players shooter))
(do :players shooter :actions (receivePass))))))
(step :id 2 :abortTime 70
:participants (list (at CornerP (pt :x 52 :y 34)) (at receiver (pt :x 40 :y 25)) (atshooter (pt :x 36 :y 2)) )
:condition (and (bowner :players shooter) (playm play_on) )
:leadPlayer shooter :transitions (list
(nextStep :id 3 :condition (canShoot :players shooter)
:directives (list
(do :players shooter :actions (shoot))))))
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
8/12/2019 Luis Paulo Reis Waf2014
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 99
Results * ormation and Ki&5)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9B
Robot %an&ing #oti'ation
Inter-dis&iplinary area
Human-robot non-'erbal; intera&tion
%esign o$ so&ial intelligent robots
Roboti& entertainment
,du&ation
T"erapy
Impro'e robots musi&al and bodily &ognition
Impro'e roboti& eDpressi'eness
No'el area o$ resear&"
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?E
Resear&" )reas
Active Audition
Choreography
Dance MotionGeneration
Audio BeatTracking
Rhythm&
Metre
Embodiment&
Entrainment
Action
Live Beat-SynchronousRobot Dancing
Active Audition
Choreography
Dance MotionGeneration
Audio BeatTracking
Rhythm&
Metre
Embodiment&
Entrainment
Action
Live Beat-SynchronousRobot Dancing
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?1
Robot %an&ing
.nnatural #o'ements
No #usi&al Input
No Li'e #usi&al Input
Pre-programmed %an&ing
irtual (ody
No R"yt"mi& Intelligen&e No Human Intera&tion
No Robot )udition
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?/
Pro2e&t 0b2e&ti'esImplementation o$ a r"yt"mi& intelligent robot &apable o$
dan&ing to li'e musi& in a real-world en'ironment
1. 0nline beat-tra&5ing to &ontinuous musi& stimuli2. Representation and mapping o$ "uman
dan&e mo'ements onto "umanoid robots
3. 0nline beat-syn&"ronous robot dan&ing 4. Robot audition $or real-world robot dan&ing
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?7
#apping +amba onto Humanoids
"uman Mo#apRecording
"uman Mo#ap$od% Model
Ro&o' "(AR$) $od% Model
Ro&o' NA) $od% Model
*imula'ed Ro&o' NA)
Real Ro&o' "(AR$)
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?8
(eat-+yn&"ronous Robot %an&ing %emonstration
)I and Roboti&s6 Coordination o$ RoboCupTeams6 Intellw"eelsPro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
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