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A model for a Companion AIBO

A model for a Companion AIBO. Architecture and Design. 19 th April 2005. Iulia Dobai. Man-Machine Interaction Group, Technical University Delft. Background and History. 6 years back SONY introduces the first entertainment robot: AIBO 2 years back SONY partially opens the black-box

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A model for a Companion AIBO

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  1. A model for a Companion AIBO Architecture and Design 19th April 2005 Iulia Dobai Man-Machine Interaction Group, Technical University Delft

  2. Background and History • 6 years back • SONY introduces the first entertainment robot: AIBO • 2 years back • SONY partially opens the black-box • Last couple of years • Studies are conducted regarding human-AIBO interaction in USA and Japan • Masahiro Fujita concludes that AIBO is a good partner with humans and useful in mental therapy. Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  3. Premises • SONY AIBO Companion Robot: • Behaviors that comes from a “manually designed database”. • Emotional Expressions are somewhat “bashful” • The personality model behind is “rudimentary” • Sony putts effort in unknown-object learning and unknown-word technologies • No other entertainment robots are to be found on the market. • Science is dealing only with task-oriented robots. Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  4. Requirements and Challenges • Requirements • Develop a system architecture for a companion dog • Design and implement software to portray emotions in AIBO as a result of interaction with humans. • Design of a personality model adapted to AIBO. • Challenges • Adaptation to AIBO specific hardware and its limitations • Limitations imposed by AIBO specific software • Use of URBI that is still under development • Little is still known or standardized in the cognitive model for humans. Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  5. Requirements in other words… Get a life! I am still sleeping! AIBO! Let’s play!!! Follow me Are you out of your mind? I am sleeping!!! AIBO! Bring me my newspaper!!! 8:00 AM 7:00 AM I am so bored! I wish I had a companion! I feel so lonely!!! I am very sad and depressed. AIBO! Let’s play!!! Follow me Finally I have a friend! I am so happy and I even managed to pick up the bone! Wow!!! 11:00 AM 14:00 AM 16:00 AM Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  6. Scenario for Emotional Reasoning Scenario: AIBO’s Personality: • Openness- 55% • Conscientiousness – 50% • Extrovert – 60% • Agreeableness – 48% • Neuroticism – 45% AIBO’s Mood • Valence = positive • Arousal = 60% AIBO’s Needs • Physiological needs – 15% • Safety – 100% • Belonging – 80% • Love - … • Achievement- … • Recognition - … Constant through life-cycle. Constant changing in time. Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  7. Personality and Needs • Personality • OCEAN Model of Personality • 5 Dimensions of personality: Openness, Conscientiousness, Extraversion, Agreeableness, Neuroticism • Needs • Maslow Pyramid of Needs • 5 layers of needs in a prioritized order • Needs are satisfied in turns starting down-top … more on these Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  8. Mood and Goals, Preferences and Standards • Mood • 2 dimensional factor: valence and arousal. • Goals, Preferences and Standards • Goals • Task oriented objectives that are simple, measurable, realistic and time-framed. • Preferences • Appealingness to aspects of objects • Standards • Approval/disapproval regarding actions of agents Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  9. Emotions and Actions • Instantaneous Emotions • Emotion categories proposed by Orthony, Clore and Collins (OCC Model of emotional states) • 6 emotional expressions are used: happiness, sadness, fear, anger, surprise and disgust • Series of Actions • Represent AIBO specific set of actions that lead to the accomplishment of a specific goal. • In case of no event occurrence AIBO has a default and random behavior. …more on these …more on these Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  10. The nPME model Event Driven System • If an event occurs (by event we understand a registered happening that is detected by AIBO) the response engine is triggered and based on the evaluation of goals, preferences and standards and on the current mood a new emotional state and a set of actions results. • Types of Events: • Internal Events (battery, timer) • External Events • Direct Commands Fig 1. nPME Model nPME Model = needs based Personality – Mood – Emotions Model Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  11. Implementation • System Architecture • URBI Server • Interprets URBI Commands from client • Sends raw data from sensors • Client • Interprets and analyzes data received from sensors • Reasons about the world AIBO is acting in • Sends to AIBO URBI commands Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  12. Software Architecture and Design • Processing component • Represents the personality model described before and consists of two expert systems (/fuzzy expert systems) • Technologies used: • Java for implementing the entire system. • URBI scripting language for robot-specific commands. • Jess (/Fuzzy Jess) for the expert systems. Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  13. Project Overview • What have been done? • Literature survey in the topics of cognitive science, AIBO, robotics, artificial intelligence, autonomous agents. • Developed a personality model • Developed an implementation model for a companion AIBO • What brings the future? • Final implementation and usability Tests • Upgrade to Fuzzy Expert Systems and Tests • Final Report • Envisioning? • A plug-in system for task-oriented AIBOs. Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  14. Questions ? Suggestions ? Inputs and Ideas ? Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  15. OCEAN Model BACK Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  16. OCC Model Used from the OCC Model: Mapping emotional expressions on emotional states BACK Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  17. AIBO shows emotional expressions Angry Fear Sad Surprise Disgust Happy BACK Hint: click on emotion to visualize movie Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  18. AIBO Sensors and Features BACK Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

  19. AIBO Sensors and Features BACK Iulia Dobai A model for a Companion AIBO MMI Group, TU Delft

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