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A.G. Billard, Autonomous Robots Class Spring 2007 http://lasa.epfl.ch

Course SHSProgram in Cognitive Psychology

Spring 2007

Human-Robot InteractionUser-centred design of social robots

Aude G Billard

Learning Algorithms and Systems Laboratory - LASAEPFL, Swiss Federal Institute of Technology

Lausanne, Switzerland

[email protected]


The Aesthetic of the Body

Why is Aesthetic important?



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.



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

SDR-3X, Sony Dream Robot50cm, 5 Kg, 24 DOFs

OS: Aperios, OPEN-R, 16MB memory stick

CCD Color Camera, Microphone (x2), IR distance, Acceleration,

Touch Detection (x8), SpeakerWalking Speed, 15m per minute

HOAP-1 Fujitsu Laboratory Ltd.48 cm, 6 kg, 20 DOF,

OS: RT-LinuxUSB 1.0 (12Mbps)

PINO Kitano ERATO Project, Tokyo

Sound and Vision

Mini-Humanoids

Baby Robots

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

Robota (1997-2002)Univ. of Edinburgh 1997-1998, EPFL (Switzerland) 1998-1999DIDEL SA (Switzerland) 1999-2007

CSI, Paris, France 2000-2002USC, Los Angeles,2001-2002



"uncanny valley"[Mori 1970]


The Aesthetic of the Face

Surprisingly, however, many of the humanoid robots developed so far have more in common with monsters

than with dolls.

Maverick, 2001RIKEN & USC

Berthoc, 2006Univ. Bielefeld



Another set of attempts

University of Pisa & Jet Propulsion Lab

Kobayashi / Ishiguro’s LabScience University of Tokyo,

2001


Human-like body

BiPed Locomotion

Kawato Erato Project,ATR, Kyoto, Japan

YFX Studios,Japan, USA

• Binocular Vision

• Anthropomorphic Hands• Anthropomorphic Arms

University of Karslruhe, Germany BIP 2000, CRNS, France

• Anthropomorphic Head



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.



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.



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.



And, finally, he cloned himself!

Geminoid , Ishiguro’s Lab, Osaka University

Hiroshi Ishiguro would say that his Geminoid is like a twin!



The realism of the facial expressions are as important as the overall

aesthetic of the face


Expressing Emotions

The Kismet Robot, C. Breazael, MIT, 1999

Sad Happy Surprised

Designing Robot’s Faces


Expressing Emotions

Feelix robot by L. Canamero, MIT, 1999

From left to right and topto bottom: neutral, anger, sadness, fear, happiness, and surprise.


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



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. 331 - 332.

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




e.g. a Photograph

e.g. Comics faces

e.g. Picasso’s cubic faces


Expressive Body Movements

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


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.



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.



Robota: Educational and Therapeutic Toy

Designing Robot Toys

SDR-3X, Sony Price: Luxury car (>$100’000.-)

Robota, DIDEL SA Price: $2’800.-

My Real Baby, IRobot CorpPrice: $100.-

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

What is the use of Robota?


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



First Prototype

Univ of Edinburgh, 1998



Learning Dance Movements

Univ of Edinburgh, 1998

First Prototype



LAMI - EPFL, 1999

In collaboration with Jean-Daniel Nicoud and Andre Guignard

Second Prototype



Second Prototype

Billard, A. (2003) Robota: Clever Toy and Educational Tool. Robotics & Autonomous Systems, 42, 259-269.



PDA - Pocket-PC400MHz, 64MbWindows CEEmbedded C++

Speech ProcessingCONVERSAYsynthesis + recognition

TouchSwitches

Kinesthetic – HapticPotentiometers

Face and Motion TrackingCMOS FlyCam camera

Robota – The Product



Robota – The Product

Since 1999, Robota is a commercial product sold by DIDEL SA, Switzerland



Three degrees of freedom:

- 1 for horizontal binocular motion

- 2 for vertical motion (separate blinking)

Aesthetic: all components within the head

ROBOTA’S EYES

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.



ROBOTA’S EYES



2 USB Cameras

VGA (640X480)

15 frames per second

Robota’s eyes

IEEE Conf. In Humanoid Robotics, HUMANOIDS’04



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.


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.


The importance of having human-like motions

Ishiguro’s Android driven by sinusoid-like motions

Real-time mapping of human motion on the Android


The Kindness of the Behaviour

Ri-Man robot from Riken


Goal: Creates gaze contact and change gaze directionality with focus of interest

Development: Oculo-motor control, eye-head coordination, visuo-audio control

Infanoid, CSL, ATR, KyotoRobita, Waseda University

Human-like behavior


Goal: Teaching the robot through imitation

Development: From recognizing to categorizing, learning and reproducing gestures gestures

Human-like behavior

Darrin Bentivegna, ATR, Kyoto Infanoid, CSL, ATR, Kyoto


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.

Human-like behavior

Subject seated on a chairSubject standing 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).


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 moreacceptable and although a rear approach was not usually mostpreferred, it was generally acceptable to subjects if physicallymore convenient.

Human-like behavior

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).


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. 450-455.

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.

Human-like behavior


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.


CONTEST

Team of 3

Draw the most appealing robot

15 minutes

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