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Course SHS Program in Cognitive Psychology Spring 2007 Human-Robot Interaction User-centred design of social robots Aud

Course SHS Program in Cognitive Psychology Spring 2007 Human-Robot Interaction User-centred design of social robots Aude G Billard Learning Algorithms and Systems Laboratory - LASA EPFL, Swiss Federal Institute of Technology Lausanne, Switzerland aude.billard@epfl.ch.

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Course SHS Program in Cognitive Psychology Spring 2007 Human-Robot Interaction User-centred design of social robots Aud

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  1. Course SHS Program in Cognitive Psychology Spring 2007 Human-Robot Interaction User-centred design of social robots Aude G Billard Learning Algorithms and Systems Laboratory - LASA EPFL, Swiss Federal Institute of Technology Lausanne, Switzerland aude.billard@epfl.ch A.G. Billard, Autonomous Robots Class Spring 2007

  2. The Aesthetic of the Body Why is Aesthetic important? A.G. Billard, Autonomous Robots Class Spring 2007

  3. 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? A.G. Billard, Autonomous Robots Class Spring 2007 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.

  4. 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 A.G. Billard, Autonomous Robots Class Spring 2007

  5. Mini-Humanoids 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) 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), SpeakerWalking Speed, 15m per minute

  6. Baby Robots My Real Baby (2000) IRobot Corp, Boston, USA Robota (1997-2002) Univ. of Edinburgh 1997-1998, EPFL (Switzerland) 1998-1999 DIDEL SA (Switzerland) 1999-2007 CSI, Paris, France 2000-2002 USC, Los Angeles,2001-2002

  7. The Aesthetic of the Body "uncanny valley"[Mori 1970] A.G. Billard, Autonomous Robots Class Spring 2007

  8. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  9. The Aesthetic of the Face University of Pisa & Jet Propulsion Lab Kobayashi / Ishiguro’s Lab Science University of Tokyo, 2001 Another set of attempts A.G. Billard, Autonomous Robots Class Spring 2007

  10. BiPed Locomotion Human-like body • Binocular Vision • Anthropomorphic Head Kawato Erato Project, ATR, Kyoto, Japan YFX Studios, Japan, USA • Anthropomorphic Hands • Anthropomorphic Arms A.G. Billard, Autonomous Robots Class Spring 2007 University of Karslruhe, Germany BIP 2000, CRNS, France

  11. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  12. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  13. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  14. The Aesthetic of the Face Geminoid , Ishiguro’s Lab, Osaka University Hiroshi Ishiguro would say that his Geminoid is like a twin! A.G. Billard, Autonomous Robots Class Spring 2007 And, finally, he cloned himself!

  15. The Aesthetic of the Face The realism of the facial expressions are as important as the overall aesthetic of the face A.G. Billard, Autonomous Robots Class Spring 2007

  16. Designing Robot’s Faces Expressing Emotions Sad Happy Surprised The Kismet Robot, C. Breazael, MIT, 1999 A.G. Billard, Autonomous Robots Class Spring 2007

  17. Designing Robot’s Faces Expressing Emotions From left to right and top to bottom: neutral, anger, sadness, fear, happiness, and surprise. Feelix robot by L. Canamero, MIT, 1999 A.G. Billard, Autonomous Robots Class Spring 2007 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

  18. Designing Robot’s Faces • 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 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. A.G. Billard, Autonomous Robots Class Spring 2007

  19. The Aesthetic of the Face 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. A.G. Billard, Autonomous Robots Class Spring 2007

  20. 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. 331 - 332. A.G. Billard, Autonomous Robots Class Spring 2007

  21. Expressive Body Movements Keepon (Kozima’s group, CRL, Japan): Very simple but powerful design to convey joint attention and turn taking behavior A.G. Billard, Autonomous Robots Class Spring 2007

  22. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  23. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  24. Designing Robot Toys Robota: Educational and Therapeutic Toy A.G. Billard, Autonomous Robots Class Spring 2007

  25. 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

  26. 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 A.G. Billard, Autonomous Robots Class Spring 2007

  27. Designing Robot Toys First Prototype A.G. Billard, Autonomous Robots Class Spring 2007 • Univ of Edinburgh, 1998

  28. Designing Robot Toys First Prototype Learning Dance Movements A.G. Billard, Autonomous Robots Class Spring 2007 • Univ of Edinburgh, 1998

  29. Designing Robot Toys Second Prototype LAMI - EPFL, 1999 In collaboration with Jean-Daniel Nicoud and Andre Guignard A.G. Billard, Autonomous Robots Class Spring 2007

  30. Designing Robot Toys Second Prototype A.G. Billard, Autonomous Robots Class Spring 2007 Billard, A. (2003) Robota: Clever Toy and Educational Tool. Robotics & Autonomous Systems, 42, 259-269.

  31. Face and Motion Tracking CMOS FlyCam camera PDA - Pocket-PC 400MHz, 64Mb Windows CE Embedded C++ Speech Processing CONVERSAY synthesis + recognition Kinesthetic – Haptic Potentiometers Touch Switches Designing Robot Toys Robota – The Product A.G. Billard, Autonomous Robots Class Spring 2007

  32. Designing Robot Toys Robota – The Product Since 1999, Robota is a commercial product sold by DIDEL SA, Switzerland A.G. Billard, Autonomous Robots Class Spring 2007

  33. Designing Robot Toys ROBOTA’S EYES • Three degrees of freedom: • 1 for horizontal binocular motion • 2 for vertical motion (separate blinking) • Aesthetic: all components within the head A.G. Billard, Autonomous Robots Class Spring 2007 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.

  34. Designing Robot Toys ROBOTA’S EYES A.G. Billard, Autonomous Robots Class Spring 2007

  35. Designing Robot Toys Robota’s eyes • 2 USB Cameras • VGA (640X480) • 15 frames per second IEEE Conf. In Humanoid Robotics, HUMANOIDS’04 A.G. Billard, Autonomous Robots Class Spring 2007

  36. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  37. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  38. The importance of having human-like motions Ishiguro’s Android driven by sinusoid-like motions Real-time mapping of human motion on the Android A.G. Billard, Autonomous Robots Class Spring 2007

  39. The Kindness of the Behaviour Ri-Man robot from Riken A.G. Billard, Autonomous Robots Class Spring 2007

  40. 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 A.G. Billard, Autonomous Robots Class Spring 2007

  41. 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 A.G. Billard, Autonomous Robots Class Spring 2007

  42. Human-like behavior 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). A.G. Billard, Autonomous Robots Class Spring 2007

  43. 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). A.G. Billard, Autonomous Robots Class Spring 2007

  44. 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. 450-455. A.G. Billard, Autonomous Robots Class Spring 2007

  45. 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. A.G. Billard, Autonomous Robots Class Spring 2007

  46. CONTEST Team of 3 Draw the most appealing robot 15 minutes A.G. Billard, Autonomous Robots Class Spring 2007

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