Introduction to Talking Robots

Transcription

1 Introduction to Talking Robots Graham Wilcock Adjunct Professor, Docent Emeritus University of Helsinki

2 Walking and Talking Graham Wilcock

3 Choregraphe Box Libraries Animations Breath, Hello, Wipe Forehead Dances Tai Chi Chuan Motions Sit Down, Stand Up

4 Choregraphe Box Libraries: Walking Motions Move To, Move Toward, Obstacle Avoidance Textbook Chapter 2: Walk It Out WalkItOut.pdf Robot stands up, walks forward, sits down (Note: Python parts are optional)

5 Choregraphe Box Libraries: Talking Audio Voice Set Language, Say, Animated Say Textbook Chapter 1: Hello World HelloWorld.pdf Robot says Hello or says something else (Note: Python parts are optional)

6 Choregraphe Box Libraries: Walking and Talking Motions and Voice Stand Up, Move To, Sit Down Set Language, Say, Say, Say Self-explaining behaviours Robot says Standing up and stands up Robot says Moving forward and moves forward Robot says Sitting down and sits down

7 Using Webots for Nao with Choregraphe Connect Choregraphe to a robot in Webots Create behaviours in Choregraphe Observe them in Webots simulated worlds Walking and talking examples on Youtube

8 Choregraphe Box Libraries: Obstacle Avoidance Obstacle avoidance (preparation) Activate obstacle sensors Obstacle avoidance algorithm (loop) Carefully move forward if no obstacle If obstacle detected, back off a bit And also turn right a bit Then repeat the loop (move forward,...) If robot falls down, stop

9 Obstacle Avoidance

10 Reminder: Non-verbal behaviour Autonomous behaviour Wander randomly Avoid obstacles Follow a wall etc. Robot acts silently

11 Reminder: Verbal behaviour Robot explains its own actions object on right (therefore) turn left Monologue One-way info Can be irritating clear, clear, clear

12 Obstacle Avoidance (Silent)

13 Obstacle Avoidance (Talking)

14 Obstacle Avoidance (Talking) Motions and Voice Obstacle avoidance Set Language, Say, Say, Say Obstacle avoidance algorithm plus talking Say moving forward before moving forward Say backing off before backing off Say turning right before turning right AvoidanceTalking-5min.mp

15 Choregraphe Timeline (Preview): Creating Animations New animations Create your own new gestures and movements Textbook Chapter 4: Let s Dance LetsDance.pdf Robot raises right arm, raises left arm Turns right palm up, turns left palm up Puts one arm on head, on hip, on back,... (Note: Python parts are optional)

16 Choregraphe Timeline (Preview): Real Robot and Virtual Robot Using a real robot (textbook Chapter 4) Set joints stiffness off Move robot arm to desired positions Record positions on timeline Using a virtual robot Right click on arm to see joints view Move virtual arm to desired positions by using slider bars to rotate arm joints Record positions on timeline