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lirec_notes [2009-01-06 14:50] – davegriffiths | lirec_notes [2009-01-13 12:19] – davegriffiths | ||
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- | LIving with Robots and InteractivE Companions | + | ====== |
- | ===Scenarios=== | + | < |
- | ==Heriot Watt== | + | http:// |
- | Spirit of the building: | + | |
- | - Team buddy, mobile robot, collective memory for a lab team | + | |
- | - Personal guide - for navigating around a university campus, remember appointments etc | + | |
- | - In the wild - a gossip/chat robot - appears on a large screen in social area | + | |
- | ==INESC-ID== | + | =====Theory===== |
- | - Game companion for young children | + | |
- | - Personal trainer (migrate to mobile robot for jogging exercises etc) | + | |
- | - Welcome to the jungle - talk to game characters through a robot, robot can alternate | + | |
- | between real and game world | + | |
- | =University | + | [[Models |
- | 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 Proxemic preferences - robot learns where to be relative to the user in different situations | + | |
- | 5. Travelling companion - agent migration, to stay with user during home, work, shopping. | + | |
- | ===Architecture=== | + | ====Agent platforms==== |
- | Has to: | + | The platforms currently under consideration for long term companions are: |
- | 1. Run on very different platforms | + | * Mobile robots |
- | 2. Reuse code across these platforms | + | * Fixed robots |
- | 3. Support migration at runtime between platforms | + | * Handheld devices |
+ | * Fixed graphical systems | ||
- | Platforms can consist | + | =====Migration===== |
+ | |||
+ | An interesting feature | ||
- | =Existing robot architectures= | + | ======Scenarios====== |
- | In the whole, there is a lack of sharing | + | |
+ | In order to test and showcase | ||
+ | |||
+ | ====Heriot Watt==== | ||
+ | Spirit of the building: | ||
+ | - Team buddy, a mobile robot/ | ||
+ | - Personal guide - for navigating around a university campus, remembering appointments, telling you where to go | ||
+ | - In the wild - a gossip/chat robot - appears on a large screen in a social area | ||
+ | |||
+ | ====INESC-ID==== | ||
+ | - Game companion for young children | ||
+ | - Personal trainer - which can migrate to mobile robot for jogging exercises | ||
+ | - Welcome to the jungle - talk to game characters through a robot which can alternate between real and game world | ||
- | NASREM/NIST RCS - NASA + ESA use a generic system | + | ====The University of Hertfordshire==== |
+ | - Fetch and carry, to help with physical impairment or provide convenience | ||
+ | - Cognitive prosthetic - memory aid for tasks | ||
+ | - Telepresence card player | ||
+ | - Teaching proxemic preferences - a robot learns where to be relative to the user in different situations | ||
+ | - Travelling companion - agent migration, to stay with user during home, work, shopping | ||
- | =Methodology= | + | ======Experimental testing====== |
- | In the past there have been 2 broad approaches to robot design: | + | |
- | * Heirarchical, | + | |
- | * Behavioural approach | + | |
- | This can be summed up as predictive vs reactive. | + | |
- | Current thinking is to use a hybrid approach, example BIRON. Where the predictive constrains the reactive to combine local decisions with a world model. | + | All scenarios developed are to be experimentally tested and showcased |
- | The architecture will consist of 3 layers of abstraction: | + | ======Architecture====== |
- | Level 1 - device layer, architecture dependant | + | |
- | Level 2 - architecture dependant -> logical mappings | + | |
- | 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, | + | [[Lirec Architecture]] |
- | Example competencies: | + | ======Links====== |
- | * Face finding | + | |
- | * Expression recognition | + | |
- | * Text to speech | + | |
- | * Obstacle avoidance | + | |
+ | [[Lirec Work Packages]] | ||
+ | [[http:// | ||
- | YARP |