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The Next Generation of Robots?

The Next Generation of Robots?. Rodney Brooks and Una-May O’Reilly. Our Objectives. How can biology inform robotic competence? How can aspects of human development and social behavior inform robotic competence?. Our Approach. Exploit the advantages of the robot’s physical embodiment

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The Next Generation of Robots?

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  1. The Next Generation of Robots? Rodney Brooks and Una-May O’Reilly

  2. Our Objectives • How can biology inform robotic competence? • How can aspects of human development and social behavior inform robotic competence?

  3. Our Approach • Exploit the advantages of the robot’s physical embodiment • Integrate multiple sensory and motor systems to provide robust and stable behavioral constraints • Capitalize on social cues from an instructor • Build adaptive systems with a developmental progression to limit complexity

  4. Our Humanoid Platforms Cog and Kismet

  5. Biological Inspiration for Cog • Cog has simulated musculature in its arms • Cog has an implementation of a human model of visual search and attention • Cog employs context-based attention and internal situations influence action • Cog uses a naïve model of physics to distinguish animate from inanimate

  6. Social Inspiration for Cog • A theory of mind • A theory of body • Mimicry

  7. Eye tilt Right eye pan Left eye pan Camera with wide field of view Neck tilt Camera with narrow field of view Neck pan Axis of rotation Neck lean Human <—> Robot Cameras Gaze direction Microphones Facial features Head orientation Speech synthesizer

  8. Social Level robot responds to human human responds to robot Levels of Control Behavior Level perceptual feedback current goal Skills Level coordination between motor modalities current primitive(s) Primitives Level

  9. Kismet’s Competencies • Direct Visual Attention • Recognize Socially Communicated Reinforcement • Communicate Internal State to Human • Regulation of Social Interaction

  10. Cameras Eye, neck, jaw motors Ear, eyebrow, eyelid, lip motors QNX L Motor ctrl Attn system Eye finder dual-port RAM CORBA Face Control Percept & Motor Tracker Dist. to target Motion filter Drives & Behavior Emotive Response NT speech synthesis affect recognition Skin filter Color filter audio speech comms Speakers Linux Speech recognition CORBA CORBA Microphone No One in Charge • 4 Motorola 68332 micro-controllers • L, multi-threaded lisp • higher-level perception, motivation, behavior, motor skill integration & face control • 11 400-500 MHz PCs • QNX (vision) • Linux (speech recognition) • NT (speech synthesis & vocal affect recognition

  11. Visual Attention Frame Grabber color skin tone motion habituation w w w w attention inhibit reset Top down, task-driven influences Eye Motor Control

  12. Visual Search

  13. Person backs off Person draws closer Beyond sensor range Too far – calling behavior Too close – withdrawal response Comfortable interaction distance Comfortable interaction speed Too fast – irritation response Too fast, Too close – threat response Social Constraints

  14. That’s a good bo-o-y! No no baby. o pitch, f (kHz) pitch, f (kHz) o time (ms) time (ms) approval prohibition Can you get it? Can you get it? MMMM Oh, honey. pitch, f (kHz) pitch, f (kHz) o o time (ms) time (ms) attention comfort Evidence for 4 contours in Kismet-directed speech Cross Cultural Affect

  15. soothing Soothing vs Low-Intensity Neutral Soothing & Low-Intensity neutral vs Everything Else approval vs attention approval Approval & Attention vs Prohibition vs High Intensity Neutral attention prohibition neutral Affect Recognizer neutral prohibition attention & approval energy variance soothing & low-energy neutral pitch mean

  16. Naive Subjects • 5 female subjects • 4 naive subjects • 1 caregiver • Four contours and neutral speech • praise, prohibition, attention, soothing • Multiple languages • French, German, Indonesian, English, Russian • Driven by Human

  17. arousal surprise afraid elated angry stress excitement happy frustrated displeasure pleasure neutral sad content depression calm fatigued relaxed bored sleepy sleep Facial Expressions

  18. Facial Postures in Affect Space Open stance Low arousal fear accepting Negative valence tired unhappy content surprise Positive valence disgust stern High arousal anger Closed stance

  19. Face, Voice, Posture

  20. Turn-Taking / Proto-Dialog • Naïve subjects • Told to “talk to the robot” • Engage in turn taking • No understanding (on either side) of content

  21. Implemented Model of Visual Search and Attention Color w Motor System Motion w Activation Map Skin w Motivation System Habituation w

  22. Hardware – Cog’s Arms • 6 DOF in each arm • Series elastic actuator • Force control • Spring law

  23. Hardware – Cog’s Head • 7 degrees of freedom • Human speed and range of motion

  24. Visual and Inertial Sensors 3-axis inertial sensor Peripheral View Peripheral View Foveal View Foveal View

  25. Computational System • Designed for real-time responses • Network of 24 PC’s ranging from 200-800 MHz • QNX real-time operating system • Implementation shown today consists of • ~26 QNX processes • ~75 QNX threads

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