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lirec_notes [2009-01-06 14:50] – davegriffiths | lirec_notes [2009-01-08 10:33] – 86.166.165.142 | ||
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- | LIving with Robots and InteractivE Companions | + | ==== LIving with Robots and InteractivE Companions |
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+ | < | ||
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+ | ==Links== | ||
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+ | http:// | ||
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+ | [[lirec work packages]] | ||
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+ | ==Agent platforms== | ||
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+ | The platforms currently under consideration for long term companions are: | ||
+ | * Mobile robots | ||
+ | * Fixed robots | ||
+ | * Handheld devices | ||
+ | * Fixed graphical systems | ||
+ | |||
+ | ==Migration== | ||
+ | |||
+ | An interesting feature of the research is migration between these platforms. Agents which need to build up a long term relationship with their users will have to switch forms depending on the needs of the user at different times. The migration of an agent between devices, and how people relate to it, is a core element of the research. | ||
===Scenarios=== | ===Scenarios=== | ||
+ | |||
+ | In order to test and showcase the technology developed for Lirec, several scenarios have been designed to promote companionship. These scenarios are shared between three of the research partners. | ||
==Heriot Watt== | ==Heriot Watt== | ||
Spirit of the building: | Spirit of the building: | ||
- | - Team buddy, mobile robot, collective memory for a lab team | + | - Team buddy, |
- | - Personal guide - for navigating around a university campus, | + | - Personal guide - for navigating around a university campus, |
- | - In the wild - a gossip/chat robot - appears on a large screen in social area | + | - In the wild - a gossip/chat robot - appears on a large screen in a social area |
==INESC-ID== | ==INESC-ID== | ||
- Game companion for young children | - Game companion for young children | ||
- | - Personal trainer | + | - Personal trainer |
- | - Welcome to the jungle - talk to game characters through a robot, robot can alternate | + | - Welcome to the jungle - talk to game characters through a robot which can alternate between real and game world |
- | | + | |
- | =University of Hertfordshire= | + | ==The University of Hertfordshire== |
- | 1. Fetch and carry, help with physical impairment or convenience | + | |
- | 2. Cognitive prosthetic - memory aid for tasks etc | + | |
- | 3. Telepresence card player - robot mediates play | + | |
- | 4. Teaching | + | |
- | 5. Travelling companion - agent migration, to stay with user during home, work, shopping. | + | |
- | ===Architecture=== | + | ===Experimental testing=== |
- | Has to: | + | All scenarios developed are to be experimentally tested and showcased to the public. |
- | 1. Run on very different platforms | + | |
- | 2. Reuse code across these platforms | + | ===Architecture=== |
- | 3. Support migration at runtime between platforms | + | |
- | Platforms can consist of 4 main types, mobile robot, fixed robot, handheld device or fixed graphical system. Each has it's inherent restrictions. | + | The technology developed for Lirec is shared between the research partners, and has to: |
+ | - Run on very different platforms | ||
+ | - Reuse code across these platforms | ||
+ | - Support migration at runtime between platforms | ||
- | =Existing robot architectures= | + | ==Existing robot architectures== |
- | In the whole, there is a lack of sharing of this kind of technology. This is partly because generalising is hard in this field, considering all types of robots possible. However, Lirec has to generalise as it's using a wide variety of architectures. | + | In the whole, there has historically been a lack of sharing of this kind of technology. This is partly because generalising is hard, considering all types of robots |
- | NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | + | While some existing architectures are available, none of them address the needs of Lirec, given the focus is: |
+ | | ||
+ | - Working across different platforms | ||
- | =Methodology= | + | ==Methodology== |
- | In the past there have been 2 broad approaches to robot design: | + | In the past there have been 2 broad approaches to [[robot design]]: |
- | * Heirarchical, model based planning = expensive to maintain accurate world state model | + | * Hierarchical, model based planning = expensive/ |
- | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program | + | * Behavioural approach = less state, local decisions, |
- | This can be summed up as predictive vs reactive. | + | This can be summed up as "predictive vs reactive". |
- | Current thinking | + | The plan is to use a hybrid approach, example |
The architecture will consist of 3 layers of abstraction: | The architecture will consist of 3 layers of abstraction: | ||
- | Level 1 - device layer, | + | * Level 1 - The device layer, |
- | Level 2 - architecture | + | |
- | Level 3 - ION, device independant | + | |
- | Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all architectures, and different implementations of the same competency | + | Level 2 will provide a reference architecture with modular capabilities called competencies. Not all competencies will make sense for all platforms, and different implementations of the same competency |
- | Example competencies: | + | Competencies table |
- | * Face finding | + | ^ Actuation ^^^^ Sensing ^^^^^^ |
- | * Expression recognition | + | | **Speech/ |
- | * Text to speech | + | | Text to speech |
- | * Obstacle avoidance | + | | Non-verbal sounds | Lip sync | Follow person | | Obj recognition | Gesture recognition (simple set) | Non-verbal sounds | Locate person | Locate obj | Competence execution monitoring | |
+ | | | Facial expression | Path planning | | | Emotion recognition (simple set) | | | User proximic distance sensing/ | ||
+ | | | | Gaze/head movement | | | Body tracking | | | | | | ||
+ | | | | Expressive behaviour | | | | | | | | | ||
+ | The computer vision competencies are to be concentrated on at first. | ||
+ | [[http:// | ||
- | YARP |