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==== LIving with Robots and InteractivE Companions ==== | ==== LIving with Robots and InteractivE Companions ==== | ||
- | LIREC aims to establish a multi-faceted theory of artificial long-term companions (including memory, emotions, cognition, communication, | + | < |
- | + | ||
- | ==Links== | + | |
http:// | http:// | ||
Line 17: | Line 15: | ||
==Migration== | ==Migration== | ||
- | An interesting feature of the research is migration | + | An interesting feature of the research is migration |
===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. | + | 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 |
- | | + | |
==The University of Hertfordshire== | ==The University of Hertfordshire== | ||
- | - Fetch and carry, help with physical impairment or convenience | + | - Fetch and carry, |
- | - Cognitive prosthetic - memory aid for tasks etc | + | - Cognitive prosthetic - memory aid for tasks |
- | - Telepresence card player - robot mediates play | + | - Telepresence card player - a robot mediates play between two people |
- | - Teaching | + | - Teaching |
- | - Travelling companion - agent migration, to stay with user during home, work, shopping. | + | - Travelling companion - agent migration, to stay with user during home, work, shopping |
===Experimental testing=== | ===Experimental testing=== | ||
- | All scenarios are to be experimentally tested | + | All scenarios |
===Architecture=== | ===Architecture=== | ||
- | The technology developed for lirec is shared between the research partners, and has to: | + | The technology developed for Lirec is shared between the research partners, and has to: |
- Run on very different platforms | - Run on very different platforms | ||
- Reuse code across these platforms | - Reuse code across these platforms | ||
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==Existing robot architectures== | ==Existing robot 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 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 |
- | While some existing architectures are available, none of them address the needs of lirec, given the focus: | + | While some existing architectures are available, none of them address the needs of Lirec, given the focus is: |
- | - Long term companionship rather than a purely technical problem | + | - Long term companionship rather than solving |
- Working across different platforms | - 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]]: |
- | * Hierarchical, | + | * Hierarchical, |
- | * 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". |
- | The plan is to use a hybrid approach, example [[http:// | + | The plan is to use a hybrid approach, example [[http:// |
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 - platform dependant -> logical mappings | * Level 2 - platform dependant -> logical mappings | ||
* Level 3 - ION, platform independent | * Level 3 - ION, platform independent | ||
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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 will be needed for different platforms. | 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 will be needed for different platforms. | ||
- | Example competencies: | + | Competencies table |
- | * Face finding | + | ^ Actuation ^^^^ Sensing ^^^^^^ |
- | * Expression recognition | + | | **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 | | | | | | | | | ||
+ | |||
+ | Some competencies are dependant on others, such as facial expression which will require a face detection competency to operate. The computer vision competencies are to be concentrated on at first. | ||
+ | |||
+ | ==Links== | ||
+ | [[Lirec Work Packages]] | ||
[[http:// | [[http:// | ||