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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:// | ||
+ | |||
+ | ==Theory== | ||
+ | |||
+ | [[Models of Social Intelligence]] | ||
==Agent platforms== | ==Agent platforms== | ||
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==Heriot Watt== | ==Heriot Watt== | ||
Spirit of the building: | Spirit of the building: | ||
- | - Team buddy, mobile robot, a collective memory for a team working in a lab | + | - Team buddy, |
- Personal guide - for navigating around a university campus, remembering appointments, | - Personal guide - for navigating around a university campus, remembering appointments, | ||
- | - 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 - which can migrate to mobile robot for jogging exercises | - Personal trainer - which can migrate to mobile robot for jogging exercises | ||
- | - 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 | - Cognitive prosthetic - memory aid for tasks | ||
- | - Telepresence card player - robot mediates play between two people | + | - 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 | - 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 | - Travelling companion - agent migration, to stay with user during home, work, shopping | ||
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===Experimental testing=== | ===Experimental testing=== | ||
- | All scenarios are to be experimentally tested | + | All scenarios |
===Architecture=== | ===Architecture=== | ||
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==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, but liable to local minima and opaque to program | * Behavioural approach = less state, local decisions, but liable to local minima and opaque to program | ||
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The architecture will consist of 3 layers of abstraction: | The architecture will consist of 3 layers of abstraction: | ||
- | * Level 1 - The device layer, hardware drivers | + | * Level 1 - The device |
- | * Level 2 - platform dependant -> logical | + | * Level 2 - Logical |
* Level 3 - ION, platform independent | * Level 3 - ION, platform independent | ||
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 | + | |
- | * Expression recognition | + | |
- | * Text to speech | + | |
- | * Obstacle avoidance | + | |
- | The computer vision competencies are to be concentrated on at first. | + | ^ Actuation ^^^^ Sensing ^^^^^^ |
+ | | **Speech/ | ||
+ | | Text to speech | Gesture execution | Move limb | Grasp/Place object | User recognition | Face detection | Speech recogn | Localization | Obstacle avoidance | Battery status | | ||
+ | | 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. | ||
+ | |||
+ | ==Links== | ||
+ | [[Lirec Work Packages]] | ||
[[http:// | [[http:// | ||