MIN-Fakultät Fachbereich Informatik. Universität Hamburg. Socially interactive robots. Christine Upadek. 29 November Christine Upadek 1

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1 Christine Upadek 29 November 2010 Christine Upadek 1

2 Outline Emotions Kismet - a sociable robot Outlook Christine Upadek 2

3 Denition Social robots are embodied agents that are part of a heterogeneous group: a society of robots or humans. They are able to recognize each other and engage in social interactions, they possess histories (perceive and interpret the world in terms of their own experience), and they explicitly communicate with and learn from each other.([fong et al., 2003]) Christine Upadek 3

4 Classifying social robots Robots can be classied according to how well the robot can support the social model that is ascribed to it the complexity of the interaction scenario that can be supported Christine Upadek 4

5 Classes of social robots - Part I socially evocative: encourage people to anthropomorphize social interface: natural interface which uses human-like social cues and communication modalities socially receptive: socially passive sociable: pro-actively engage with humans these four orignially from [Breazeal, 2003b] Christine Upadek 5

6 Classes of social robots - Part II socially situated: surrounded by social environment which they percevice an react to socially embedded: interact with others in social environments, structurally coupled with environment, partially aware of human interactional structure socially intelligent: show aspects of human style social intelligence Christine Upadek 6

7 Developing social robots emobodiment recognition of interaction partners communication natural language gestures facial expressions emotions learning and imitation Christine Upadek 7

8 Human-oriented perception social robots must be able to perceive the world similar to humans track people, people's gaze, human features identify people recognize facial expressions, gestures, human activity interpret speech Christine Upadek 8

9 Emotions Universität Hamburg Emotions emotions are an important motivation system for complex organisms involved in determining reactions to internal and external events positive emotions events that satisfy some motive negative emotions painful / threatening situations motivate to get things straight / prevent situations Christine Upadek 9

10 Emotions Universität Hamburg Emotion theory basic emotions: anger, disgust, fear, joy, sorrow, surprise basic emotion has a function emotional development: rene emotions and acquire new emotions as a means of relevance-detection and response-preparation Christine Upadek 10

11 Emotions Universität Hamburg Role of emotions in communication emotions inuence voice, facial expressions, gestures and posture emotions can thereby be communicated communicate feelings to others inuence other's behaviour Christine Upadek 11

12 Emotions Universität Hamburg Communication of emotions through facial expressions picture is an adapted version from [Russel, 1997] by [Breazeal, 2003a] Christine Upadek 12

13 Universität Hamburg Kismet - a sociable robot Kismet I I I I [Breazeal, 2003a] anthropomorphic robot head engages people in face-to-face interaction reminiscent of parent-infant exchange inspired by infant social development, psychology, ethology, evolution Christine Upadek image by Jared C. Benedict, licence: CC by-sa 2.5, [[ 0/01/Kismet_robot_ jpg][http: //upload.wikimedia.org/wikipedia/commons/0/01/ Kismet_robot_ jpg]] 13

14 Kismet - a sociable robot Kismet's hardware 21 degrees of freedom robot's gaze: 3 orientation of head: 3 facial features (eyelids, eyebrows, lips, ears): 15 4 cameras: 2 narrow eld of view, 2 wide eld of view 2 microphones (1 per ear), 1 microphone worn by the person 15 processors 9 for visual processing 5 for emotional processing and "speech" synthesis [Breazeal, 2003a] Christine Upadek 14

15 Kismet - a sociable robot Kismet's abilities direct gaze towards objects / people track objects "recognise" human's emotions through voice express emotions "speech" facial expressions act according to its drives and emotions react to external stimuli Christine Upadek 15

16 Kismet - a sociable robot Kismet's emotional state long-term inuence by drives social drive: be in presence of humans, interact with humans stimulation drive: interact with things (colorful toys) fatigue drive: shut out world after a certain time and "reset" drives and emotions short-term inuence by emotions reaction to a certain condition like the need of an absent and desired stimulus triggers behaviour like seeking to explore the environment for the desired stimulus Christine Upadek 16

17 Kismet - a sociable robot A drive process [Breazeal, 2003a] Christine Upadek 17

18 Kismet - a sociable robot Kismet's facial expressions [Breazeal, 2003a] Christine Upadek 18

19 Kismet - a sociable robot Evaluation of expressive behaviour 47% to 83% (average: 70.9%) of the subjects recognised a facial expression from an image (random 10%) 57% to 86% (average: 77.6%) of the subjects recognised a facial expression from a video clip (random 14%) viewing movement of robot's face and body strengthens recognition Christine Upadek 19

20 Kismet - a sociable robot Humans interacting with Kismet social cues help to tune human's behaviour persons actively engage the robot without under-stimulating and without over-stimulating people were able to "interact" with Kismet and reacted according to Kismet's (re)action Christine Upadek 20

21 Outlook Universität Hamburg Outlook and summary a lot of dierent research elds involved in creating socially interactive robots many problems in theses elds not solved yet (speech recognition/synthesis, visual processing,... ) or not solved as good as humans can cope with theses problems robots only capable of human-like social interaction in restricted scenarios Christine Upadek 21

22 Outlook Universität Hamburg Literature [Breazeal, 2003a] Breazeal, C. (2003a). Emotion and sociable humanoid robots. Int. J. Hum.-Comput. Stud., 59: [Breazeal, 2003b] Breazeal, C. (2003b). Toward sociable robots. Robotics and Autonomous Systems, 42(3-4): [Fong et al., 2003] Fong, T. W., Nourbakhsh, I., and Dautenhahn, K. (2003). A survey of socially interactive robots. Robotics and Autonomous Systems. [Russel, 1997] Russel, J. (1997). The Psychology of Facial Expression, chapter Reading emotions from and into faces: resurrecting a dimensionalcontextualperspective, pages Cambridge University Press. Christine Upadek 22

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