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This paper focuses OD the design and evaluation of behavior module selection and motion modulation based on emotion in the emotionally grounded (EGO) architecture that is applied in autonomous robot QRIO SDR-4 X II. In the EGO architecture, a behavior module is selected based on homeostasis in order for the robot to regulate its internal state with...
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Hedge–algebras (HA) theory provides a useful mathematical tool for modeling the linguistic values of a linguistic variable. These values are quantified by real numbers between 0 and 1. Therefore, the HA-based controller (HAC) has many advantages over the traditional fuzzy set theory-based controller (FC) in setup steps, control efficiency, computat...
Citations
... • KASPAR: a humanoid robot torso that can function as mediator of human interaction with autistic children [41]. • QRIO: a small entertainment humanoid (SONY) [45]. ...
Many recent studies (e.g., IFR: International Federation of Robotics, 2016) predict that the number of robots (industrial, service/social, intelligent/autonomous) will increase enormously in the future. Robots are directly involved in human life. Industrial robots, household robots, medical robots, assistive robots, sociable/entertainment robots, and war robots all play important roles in human life and raise crucial ethical problems for our society. The purpose of this paper is to provide an overview of the fundamental concepts of robot ethics (roboethics) and some future prospects of robots and roboethics, as an introduction to the present Special Issue of the journal Information on “Roboethics”. We start with the question of what roboethics is, as well as a discussion of the methodologies of roboethics, including a brief look at the branches and theories of ethics in general. Then, we outline the major branches of roboethics, namely: medical roboethics, assistive roboethics, sociorobot ethics, war roboethics, autonomous car ethics, and cyborg ethics. Finally, we present the prospects for the future of robotics and roboethics.
... An entertainment robot QRIO developed by Sony Corporation can make use of the visual information offered by the CCD camera installed on the head to control its movement and finish walking function. It achieves its behavior and movement choices through EGO Module [14,15]. Besides, lots of emotional computing theories and technologies are put into use in man-machine interaction to improve the experience of manmachine interaction [16][17][18]. ...
Associative memory is essential to realize man-machine cooperation in the natural interaction between humans and robots. The establishment of associative memory model is to solve the problem. First, based on the theory of emotional energy, mood spontaneous metastasis model and stimulate metastasis model are put forward. Then we can achieve affective computing on the external excitation combining with Markov chain model which is about emotions of spontaneous metastasis and HMM model which is about stimulating metastasis. Second, based on the neural network, the associative memory model which is applied in emotional robots is put forward by calculating the emotional state of the robot's dynamic change of mind and considering their own needs at the same time. Finally, the model was applied to the emotional robot platform which we developed. The effect is validated better.
... Ce principe a également été appliqué dans le cadre de l'étude de (Sawada et al., 2004), sur le robot QRIO. Une mémoire à court terme stocke les résultats obtenus par les modules de perception, et une mémoire à long terme gère l'association entre les informations perçues et l'état interne du robot. ...
Analysing and formalising the emotional aspect of the Human-Machine Interaction is the key to a successful relation. Beyond and isolated paralinguistic detection (emotion, disfluences...), our aim consists in providing the system with a dynamic emotional and interactional profile of the user, which can evolve throughout the interaction. This profile allows for an adaptation of the machine's response strategy, and can deal with long term relationships. A multi-level processing of the emotional and interactional cues extracted from speech (LIMSI emotion detection tools) leads to the constitution of the profile. Low level cues ( F0, energy, etc.), are then interpreted in terms of expressed emotion, strength, or talkativeness of the speaker. These mid-level cues are processed in the system so as to determine, over the interaction sessions, the emotional and interactional profile of the user. The profile is made up of six dimensions: optimism, extroversion, emotional stability, self-confidence, affinity and dominance (based on the OCEAN personality model and the interpersonal circumplex theories). The information derived from this profile could allow for a measurement of the engagement of the speaker. The social behaviour of the system is adapted according to the profile, and the current task state and robot behaviour. Fuzzy logic rules drive the constitution of the profile and the automatic selection of the robotic behaviour. These determinist rules are implemented on a decision engine designed by a partner in the project ROMEO. We implemented the system on the humanoid robot NAO. The overriding issue dealt with in this thesis is the viable interpretation of the paralinguistic cues extracted from speech into a relevant emotional representation of the user. We deem it noteworthy to point out that multimodal cues could reinforce the profile's robustness. So as to analyse the different parts of the emotional interaction loop between the user and the system, we collaborated in the design of several systems with different autonomy degrees: a pre-scripted Wizard-of-Oz system, a semi-automated system, and a fully autonomous system. Using these systems allowed us to collect emotional data in robotic interaction contexts, by controlling several emotion elicitation parameters. This thesis presents the results of these data collections, and offers an evaluation protocol for Human-Robot Interaction through systems with various degrees of autonomy.
... Humanoid is one of the most exciting University (H6 and H7) [1]. Sony has developed a small toy size robot whose height is only 50cm (SDR-3X) [2]. Heavy adult size robots which are over 180cm in height and weight over 100kg have been developed by ...
This paper presents an overview of the design process of humanoid robot HUBOT-1: mechanical design, gait planning, control architecture and sensors implementation. The robot is designed with full body in style of Vietnamese body proportion. At the present state the lower limbs with 12 DOF are considered for natural walking pattern from hip and ankle trajectories. Walking pattern based on ZMP criterion. Also, the dead-beat controller of servo motor is implemented for joint control. In addition, the robot used IMU and FSR sensors which are designed and implemented for verifying the ZMP trajectory in stability area.
... There are some studies of selecting behavior suitable for situation (e.g., [16], [17]). Our system will make robot more natural by joining hands with these studies. ...
A motion-rendering system that adds target emotion to basic movements of human form robot (HFR) by modifying the movements
was created. Pleasure, anger, sadness or relaxation is considered as target emotion. This method not only keeps the user interested,
but it also makes the user perceive the robot’s emotions and form an attachment to the robot more easily. An experiment was
conducted using a real HFR to test how well our system adds target emotion to basic movements. The average of the success
rates for adding the target emotion to basic motions were over 60%. This suggests that our method succeeded in adding the
target emotions to arbitrary movements.
... It has the abilities to interact with humans using speech, body posture, and gestures. For realizing the emotional influence on QRIO's behavior the EGO (Emotionally GrOunded) architecture was developed [116]. This control architecture of QRIO consists of a perception part, an emotion representation, predefined behaviors, and a memory part. ...
This dissertation presents the development of a huggable social robot named Probo. Probo embodies a stuffed imaginary animal, providing a soft touch and a huggable appearance. Probo's purpose is to serve as a multidisciplinary research platform for human-robot interaction focused on children. In terms of a social robot, Probo is classified as a social interface supporting non-verbal communication. Probo's social skills are thereby limited to a reactive level. To close the gap with higher levels of interaction, an innovative system for shared control with a human operator is introduced. The software architecture de nes a modular structure to incorporate all systems into a single control center. This control center is accompanied with a 3D virtual model of Probo, simulating all motions of the robot and providing a visual feedback to the operator. Additionally, the model allows us to advance on user-testing and evaluation of newly designed systems. The robot reacts on basic input stimuli that it perceives during interaction. The input stimuli, that can be referred to as low-level perceptions, are derived from vision analysis, audio analysis, touch analysis and object identification. The stimuli will influence the attention and homeostatic system, used to de ne the robot's point of attention, current emotional state and corresponding facial expression. The recognition of these facial expressions has been evaluated in various user-studies. To evaluate the collaboration of the software components, a social interactive game for children, Probogotchi, has been developed. To facilitate interaction with children, Probo has an identity and corresponding history. Safety is ensured through Probo's soft embodiment and intrinsic safe actuation systems. To convey the illusion of life in a robotic creature, tools for the creation and management of motion sequences are put into the hands of the operator. All motions generated from operator triggered systems are combined with the motions originating from the autonomous reactive systems. The resulting motion is subsequently smoothened and transmitted to the actuation systems. With future applications to come, Probo is an ideal platform to create a friendly companion for hospitalised children.
... However, the ASP has proven to be a hard nut to crack due to (a) incomplete knowledge, (b) unpredictable environments and surroundings, (c) imperfect sensors and actuators, and (d) limited resources [4]. As for technologies to deal with ASP, classical AI techniques [5] and several ethology-based techniques67891011 have been proposed. The architecture of earlier systems, which were based on traditional AI planning methods, consisted of a sense-plan-act sequential cycle and the interaction between sensing, planning, and action components. ...
... This approach gives an advantage in fulfilling a goal in a complex environment. On the contrary, several researchers have proposed ethologically-inspired models of action selection6789101113]. Moreover, Sheutz [14] dynamical switch among different action selection strategies. ...
... Recently, researchers had tried to adapt current ASM methods to real robot applications [26,27] or agents in virtual environment [28]. In [11], Sawada proposed EGO (Emotionally GrOunded) architecture applied to Sony QRIO SDR-4X II, where motivation flows have been employed, as in activation network of Maes. Once a motivation becomes activated by some stimuli, its corresponding action function designed byFig. ...
An action-selection-mechanism (ASM) has been proposed to work as a fully connected finite state machine to deal with sequential behaviors as well as to allow a state in the task program to migrate to any state in the task, in which a primitive node in association with a state and its transitional conditions can be easily inserted/deleted. Also, such a primitive node can be learned by a shortest path-finding-based reinforcement learning technique. Specifically, we define a behavioral motivation as having state-dependent value as a primitive node for action selection, and then sequentially construct a network of behavioral motivations in such a way that the value of a parent node is allowed to flow into a child node by a releasing mechanism. A vertical path in a network represents a behavioral sequence. Here, such a tree for our proposed ASM can be newly generated and/or updated whenever a new behavior sequence is learned. To show the validity of our proposed ASM, experimental results of a mobile robot performing the task of pushing-a-box-into-a-goal (PBIG) will be illustrated.
... Đnsansı robot tasarımı ilgi çeken araştırma alanları arasında yer almaktadır. Robotik bilim dalında bu konu ile ilgili başarılı projeler yürütülmektedir [1][2][3][4][5][6][7]. Đnsansı robotlar iki bacaklı yapıları itibarı ile insanların yaşadıkları ortamlarda görevler almaya uygundurlar. ...
... Đnsansı robotlar üzerindeki araştırmalar son yıllarda yoğunlaşarak devam etmektedir [1][2][3][4][5][6]. Araştırmalar, insan ortamındaki görevler için iki ayaklı yapının uygunluğundan doğmaktadır. ...
... Bu sebeple iki bacaklı insansı yapı, son kırk yılda araştırmacılar ve sanayi tarafından oldukça rağbet gören bir model haline gelmiştir. Bu konuyla ilgili başarılı ve ses getiren projeler [1][2][3][4][5][6][7][8][9][10]'da sunulmuştur. ...
