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- | LIving with Robots and InteractivE Companions | + | ====== |
- | ===Scenarios=== | + | < |
- | ==Heriot Watt== | + | http:// |
+ | See also [[Project Lirec]] | ||
+ | |||
+ | =====Theory===== | ||
+ | |||
+ | * [[Models of Social Intelligence]] | ||
+ | * [[Theory of Mind in Robotics]] | ||
+ | * [[Psychological Models of Empathy]] | ||
+ | |||
+ | =====Ethics===== | ||
+ | |||
+ | * [[Lirec Ethical Issues]] | ||
+ | |||
+ | =====Architecture===== | ||
+ | |||
+ | See [[Lirec Architecture]] for an overview of the planned technical structure of the project. | ||
+ | [[Yet Another Robot Platform]] is part of/ | ||
+ | |||
+ | =====Agent platforms===== | ||
+ | |||
+ | 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===== | ||
+ | |||
+ | 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==== | ||
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== | + | |
- | - Fetch and carry, help with physical impairment or convenience | + | |
- | - Cognitive prosthetic - memory aid for tasks etc | + | |
- | - Telepresence card player - robot mediates play | + | |
- | - Teaching Proxemic preferences - robot learns where to be relative to the user in different situations | + | |
- | - Travelling companion - agent migration, to stay with user during home, work, shopping. | + | |
- | ===Architecture=== | + | ====The University of Hertfordshire==== |
+ | - Fetch and carry, to help with physical impairment or provide convenience | ||
+ | - Cognitive prosthetic - memory aid for tasks | ||
+ | - Telepresence card player - a robot mediates play between two people | ||
+ | - 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 | ||
- | Has to: | + | =====Experimental testing===== |
- | - Run on very different platforms | + | |
- | - Reuse code across these platforms | + | |
- | - 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. | + | All scenarios developed are to be experimentally tested and showcased to the public. |
- | ==Existing robot architectures== | + | TODO |
- | 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. | + | |
- | NASREM/NIST RCS - NASA + ESA use a generic system with their subcontractors. | + | =====Software===== |
- | ==Methodology== | + | * [[lirec: |
- | In the past there have been 2 broad approaches to robot design: | + | * [[lirec:Greta]] |
- | * Heirarchical, | + | * [[lirec: |
- | * Behavioural approach = less state, local decisions, liable to local minima, opaque to program | + | * [[lirec: |
- | This can be summed up as predictive vs reactive. | + | * [[lirec: |
- | Current thinking is to use a hybrid approach, example BIRON. Where the predictive constrains the reactive to combine local decisions with a world model. | + | =====Meeting notes===== |
- | The architecture will consist of 3 layers of abstraction: | + | * [[lirec:Feb20WP9Meeting]] |
- | * 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, | + | =====Links===== |
- | Example competencies: | + | [[Lirec Work Packages]] |
- | * Face finding | + | |
- | * Expression recognition | + | |
- | * Text to speech | + | |
- | * Obstacle avoidance | + | |
- | YARP | + | [[http:// |