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The Next Generation of Robots?

The Next Generation of Robots?. Rodney Brooks. 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.

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The Next Generation of Robots?

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  1. The Next Generation of Robots? Rodney Brooks

  2. 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

  3. 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

  4. Competencies • Direct Visual Attention • Recognize Socially Communicated Reinforcement • Communicate Internal State to Human • Regulation of Social Interaction

  5. 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

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

  7. Visual Search

  8. 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

  9. 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

  10. 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

  11. 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

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

  13. 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

  14. Face, Voice, Posture

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

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