Human-Robot Interaction

Presentation on theme: "Human-Robot Interaction"— Presentation transcript:

1 Human-Robot Interaction
User-centered design of social robots

2 Historic Development of robotics

3 The Aesthetic of the Body
19th-20th Century: Automata (Automated toys) Mimicking the body and behavior of an animals Only one single behavior Completely preprogrammed in the mechanics The aesthetic was very important – pieces of art

4 Kitano ERATO Project, Tokyo Fujitsu Laboratory Ltd.
PINO Kitano ERATO Project, Tokyo Sound and Vision HOAP-1 Fujitsu Laboratory Ltd. 48 cm, 6 kg, 20 DOF, OS: RT-Linux USB 1.0 (12Mbps) Mini-Humanoids

5 Mini-Humanoids SDR-3X, Sony Dream Robot 50cm, 5 Kg, 24 DOFs
OS: Aperios, OPEN-R, 16MB memory stick CCD Color Camera, Microphone (x2), IR distance, Acceleration, Touch Detection (x8), Speaker Walking Speed, 15m per minute

6 Baby Robots My Real Baby (2000) IRobot Corp, Boston, USA

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14 Humanoids versus Androids

15 Uncanny Valley

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17 The Aesthetic of the Body
                                              "uncanny valley"[Mori 1970]

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19 The Aesthetic of the Body
Why is Aesthetic important?

20 The Aesthetic of the Body
It is a truism that people will be more inclined to interact with “attractive” faces than with “unattractive” ones. Typical appealing features are large eyes, symmetric and round faces, pink cheeks and big eyelashes. Dolls’ faces versus Monster’s faces? C. DiSalvo, F. Gemperle, J. Forlizzi, and S. Kiesler. All robots are not created equal: The design and perception of humanoid robot heads. In Proc. Designing Interactive Systems, pages 321: 326, 2002.

21 The Aesthetic of the Face
Monsters, dolls or puppets? The Aesthetic of the Face Maverick, 2001 RIKEN & USC Berthoc, 2006 Univ. Bielefeld Surprisingly, however, many of the humanoid robots developed so far have more in common with monsters than with dolls.

22 The Aesthetic of the Face
University of Pisa & Jet Propulsion Lab Kobayashi / Ishiguro’s Lab Science University of Tokyo, 2001 Another set of attempts

23 The Aesthetic of the Face
The realism of the facial expressions is as important as the overall aesthetic of the face

24 Human-like body Anthropomorphic Head Binocular Vision YFX Studios,
Kawato Erato Project, ATR, Kyoto, Japan YFX Studios, Japan, USA

25 University of Karslruhe, Germany
Human-like body Anthropomorphic Hands Anthropomorphic Arms University of Karslruhe, Germany BIP 2000, CRNS, France BiPed Locomotion

26 “Beautiful Body” Robots
Ishiguro

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29 The Aesthetic of the Body
Repliee R1: Ishiguro’s lab, Osaka Univ. This android has 9 degree of freedom in her head. She can move her eyes, eyelids, mouth, and neck. Its body is covered with silicone, so the skin feels humanlike. And it has 4 high sensitivity skin sensors under the skin.

30 The Aesthetic of the Body
Repliee R2: Ishiguro’s lab, Osaka Univ. Facial expressions of the adult android: 13 of the 42 actuators are used in the head. Humanlike facial expressions are realized by the motion of the eyes and mouth.

31 The Aesthetic of the Body
Together with the company Kokoro, Ishiguro’s lab at Osaka Univ has developed a new life-like android called Actroid DER2.  This android looks very human and talks and moves its head, arms, hands, and body.  This android is available for rental now at the rate of $3,500 for 5 days.

32 The Aesthetic of the Body
Together with the company Kokoro, Ishiguro’s lab at Osaka Univ has developed a new life-like android called Actroid DER2.  This android looks very human and talks and moves its head, arms, hands, and body.  This android is available for rental now at the rate of $3,500 for 5 days.

33 The Aesthetic of the Face
Geminoid , Ishiguro’s Lab, Osaka University Hiroshi Ishiguro would say that his Geminoid is like a twin! And, finally, he cloned himself!

34 Android Science Visions in robotics Androids for android science
Social robots for our societies Interaction Safety Robustness Permanent work Power problems

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42 Examples of famous Androids and Socially Interactive Robots

43 Designing Robot’s Faces
KISSMET Designing Robot’s Faces Expressing Emotions The Kismet Robot, C. Breazael, MIT, 1999

44 Expressing Emotions The Kismet Robot, C. Breazael, MIT, 1999 Sad Happy
Surprised The Kismet Robot, C. Breazael, MIT, 1999

45 FEELIX - Expressing Emotions
From left to right and top to bottom: neutral, anger, sadness, fear, happiness, and surprise. Feelix robot by L. Canamero, MIT, 1999 L. Canamero, J Fredslund, I show you how I like you-can you read it in my face, IEEE Transactions on Systems, Man and Cybernetics, Part A,, 2001

46 Kaspar – design consistency
Kaspar has 8DOF head and two 6DOF arms. Rational behind the development of Kaspar is: consistency of appearance and complexity between the head, body and hands to aid natural interaction minimal expressive features to create the impression of sociability

47 Designing Robot’s Faces
Mike Blow, Kerstin Dautenhahn, Andrew Appleby, Chrystopher L. Nehaniv, David Lee, The Art of Designing Robot Faces - Dimensions for Human-Robot Interaction, Proc. AMC/IEEE HRI06, Salt Lake City, Utah, USA, 2006, pp

48 Designing Robot’s Faces
e.g. Picasso’s cubic faces e.g. a Photograph e.g. Comics faces Mike Blow, Kerstin Dautenhahn, Andrew Appleby, Chrystopher L. Nehaniv, David Lee, The Art of Designing Robot Faces - Dimensions for Human-Robot Interaction, Proc. AMC/IEEE HRI06, Salt Lake City, Utah, USA, 2006, pp

49 Expressive Body Movements
Keepon Expressive Body Movements Keepon (Kozima’s group, CRL, Japan): Very simple but powerful design to convey joint attention and turn taking behavior

50 Expressive Body Movements
Keepon's kinematic mechanism. Two gimbals are connected by four wires; the lower gimbal is driven by two motors. Another motor rotates the whole inner-structure; yet another drives the skull downward for bobbing.

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52 Expressive Body Movements
Attentive action Directing the head up/down and left/right so as to orient Keepon's face/body to a certain target in the environment. Keepon seems to be perceiving the target. This action includes eye-contact and joint attention. Emotive action Keeping its attention in a certain direction, Keepon rocks its body from side to side and/or bobs its body up and down. Keepon seems to express emotions (like pleasure and excitement) about the target.

53 Robota: Educational and Therapeutic Toy
Designing Robot Toys

54 DIDEL SA (Switzerland) 1999-2007
Baby Robots Robota ( ) Univ. of Edinburgh , EPFL (Switzerland) DIDEL SA (Switzerland) CSI, Paris, France USC, Los Angeles,

55 What is the use of Robota?
Robota, DIDEL SA Price: $2’800.- My Real Baby, IRobot Corp Price: $100.- SDR-3X, Sony Price: Luxury car (>$100’000.-) Robota fills a gap in the market: It is an affordable humanoid robot Teaching toy: It provides a nice basis for child-robot interaction Education: It has development software, you can have several robots in a class room

56 Design Issues behind Robota
Designing Robot Toys Design Issues behind Robota Robota’s Body: Cuteness Human-likeness, i.e. respecting the body proportion of a young child (between 16 and 20 months old), Naturalness of the motions, i.e. the robot’s motions should be human-like. Robota’s Capabilities: Provided with capabilities for interactions that a child of this age would display: To recognize human faces and direct its gaze towards the user, To understand and learn a restricted vocabulary Simple imitation of the user’s motion

57 Designing Robot Toys First Prototype Univ of Edinburgh, 1998

58 Learning Dance Movements
Designing Robot Toys First Prototype Univ of Edinburgh, 1998 Learning Dance Movements

59 First Prototype Univ of Edinburgh, 1998

60 In collaboration with Jean-Daniel Nicoud and Andre Guignard
Designing Robot Toys Second Prototype LAMI - EPFL, 1999 In collaboration with Jean-Daniel Nicoud and Andre Guignard

61 Second Prototype Designing Robot Toys
Billard, A. (2003) Robota: Clever Toy and Educational Tool. Robotics & Autonomous Systems, 42,

62 Robota – The Product Designing Robot Toys Face and Motion Tracking
CMOS FlyCam camera PDA - Pocket-PC 400MHz, 64Mb Windows CE Embedded C++ Touch Switches Kinesthetic – Haptic Potentiometers Speech Processing CONVERSAY synthesis + recognition

63 Robota – The Product Designing Robot Toys
Since 1999, Robota is a commercial product sold by DIDEL SA, Switzerland

64 ROBOTA’S EYES Designing Robot Toys Three degrees of freedom:
1 for horizontal binocular motion 2 for vertical motion (separate blinking) Aesthetic: all components within the head Pongas, D., Guenter, F., Guignard, A. and Billard, A. (2004) Development of a Miniature Pair of Eyes With Camera for the Humanoid Robot Robota. IEEE-RAS/RSJ International Conference on Humanoid Robots.

65 Designing Robot Toys ROBOTA’S EYES

66 Robota’s eyes 2 USB Cameras VGA (640X480) 15 frames per second
IEEE Conf. In Humanoid Robotics, HUMANOIDS’04

67 Some fundamental ideas and beliefs Body and Brain must Match
It is fundamental that the robot’s cognitive capabilities match its physical appearance. An “adult-like” humanoid robot will be expected to produce adult-like capabilities (understanding of speech and complex manipulation capabilities). Conversely, if one interacts with a baby-like robot, one will probably have lower expectations on the robot’s speech and manipulation capabilities.

68 Designing the body and the brain of a robot
Why are the key criteria? The robot’s body creates expectations in terms of the robot’s capabilities. If these do not match, the robot loses some of its believability and of its appeal. What are the main challenges? To manage to endow the robot with complex facial and body expressions, while not loosing the aesthetic of the robot. To better understand the complex and subtle effects that each of these features have on human-robot interaction.

69 The importance of having human-like motions
Ishiguro’s Android driven by sinusoid-like motions Real-time mapping of human motion on the Android

70 The Kindness of the Behaviour
Ri-Man robot from Riken

71 Robita, Waseda University
Human-like behavior Robita, Waseda University Infanoid, CSL, ATR, Kyoto Goal: Creates gaze contact and change gaze directionality with focus of interest Development: Oculo-motor control, eye-head coordination, visuo-audio control

72 Darrin Bentivegna, ATR, Kyoto
Human-like behavior Darrin Bentivegna, ATR, Kyoto Infanoid, CSL, ATR, Kyoto Goal: Teaching the robot through imitation Development: From recognizing to categorizing, learning and reproducing gestures gestures

73 Human-like behavior: scenarios and experiments
Subject standing against a wall Subject seated on a chair 4 different scenarios were studied in the trials where a robot approached the subject who was located in the living room: 1) Seated on a chair in the middle of an open space. 2) Standing in the middle of an open space. 3) Seated at a table in the middle of an open space. 4) Standing with their back against a wall. Sarah Naomi Woods, Michael Leonard Walters, Kheng Lee Koay, Kerstin Dautenhahn (2006) Methodological Issues in HRI: A Comparison of Live and Video-Based Methods in Robot to Human Approach Direction Trials. Proc. The 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06).

74 Human-like behavior The main findings were:
Humans strongly did not like a direct frontal approach by a robot, especially while sitting (even at a table) or while standing with their back to a wall. An approach from the front left or front right was preferred. When standing in an open space a frontal approach was more acceptable and although a rear approach was not usually most preferred, it was generally acceptable to subjects if physically more convenient. Sarah Naomi Woods, Michael Leonard Walters, Kheng Lee Koay, Kerstin Dautenhahn (2006) Methodological Issues in HRI: A Comparison of Live and Video-Based Methods in Robot to Human Approach Direction Trials. Proc. The 15th IEEE International Symposium on Robot and Human Interactive Communication (RO-MAN06).

75 Human-like behavior The child groups showed a dominant response to prefer the ‘social zone’ distance, comparable to distances people adopt when talking to other humans. From the single adult studies a small majority preferred the ‘personal zone’, reserved for talking to friends. However, significant minorities deviate from this pattern. M. L. Walters, K. Dautenhahn, K. L. Koay, C. Kaouri, R. te Boekhorst, C. L. Nehaniv, I. Werry, D. Lee (2005) Close encounters: Spatial distances between people and a robot of mechanistic appearance. Proc. IEEE-RAS International Conference on Humanoid Robots (Humanoids2005), pp

76 Summary The robot’s face must be appealing to enhance the interaction
It must be able to express emotions to which humans can relate Brain and body must match  the robot’s capabilities must match the expectations raised by its body features Simple designs can sometimes be more effective than highly complex and realistic ones The robot must be endowed with basic social behaviors: Joint attention, imitation, keep a desired distance.

77 Androids for android science
Studies on fundamental issues of human-machine interaction in science and engineering Social robots for our societies Development of practical robots and finding social issues in real fields

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79 Draw the most appealing robot
CONTEST Team of 3 Draw the most appealing robot 15 minutes

80 Department of Adaptive Machine Systems, Osaka University
Sources Hiroshi Ishiguro Department of Adaptive Machine Systems, Osaka University ATR Intelligent Robotics and Communications Laboratories JST ERATO ASADA Synergistic Intelligence Project WWW: Aude G Billard Learning Algorithms and Systems Laboratory - LASA EPFL, Swiss Federal Institute of Technology Lausanne, Switzerland