Human-Robot Dynamic Social
Interaction
NTT9904-01
Progress Report: January 1,
2002ÑJune 30, 2002
Rodney Brooks
Project
Overview
NTT
researchers are interested in the question of whether a physical robot produces
a more direct emotional coupling with human beings than does a computer
generated graphical image of a similar robot. At MIT we are building a robot that has human-like facial
expressions and shoulder and neck gestures, and that perceives human motion and
facial expressions. This is
coupled to an emotional system so that the person and the robot naturally
follow normal human communication social dynamics. This robot will be installed
at the NTT Communications Science Laboratories in Kyoto where the response of
human subjects will be measured and compared to their response to a graphical
interface.
Progress
Through June 2002
In
2000 and 2001 we delivered a preliminary robot to NTT, updated the design of
the ultimate robot, called Kismet, resolved complex mechanical issues
surrounding Kismet and fabricated Kismet components. Software infrastructure for Kismet was developed. It
included a QNX-based control system layer and a platform independent set of
vision libraries with improved robustness.
In
the first half of 2002 Kismet was completely assembled and implemented then
transferred to CSL in Kyoto.
Kismet is completely operational in its 30 degrees of freedom. It runs
integrated motor control, basic vision processing and emotional display. It is hand calibrated at start up then
initialized from a basic graphical user interface that allows precise control
of each axis independently plus coordination of multiple axes. All motors are
position controlled. The vision
system has an attentional subsystem that detects skin color and saturated color.
Environmental stimuli with human skin color or high saturated color are
identified as salient. The eyes and head are continuously directed to the
salient region of the visual image stream. The robot, for demonstration
purposes, has 5 basic facial expressions of emotion: neutral, sad, happy,
surprised, and afraid. It is able
to move through the complete range of its emotional axes thus generating
intermediate expressions.
Two
researchers: Kazuhiko Shinozawa and Futoshi Naya from CSL visited MIT in June,
2002 for two weeks. The primary goal of the trip was knowledge transfer
concerning the operation and maintenance plus hardware and software
architecture of Kismet-3. Dr. Una-May OÕReilly, Lijin Aryananda and Jeff Weber
teamed with the visitors to familiarize them with trouble shooting, mechanical
operations and software control.
During the visit the robot was frequently run for hours at a time and
its software and hardware were exercised to confirm sufficient reliability and
robustness. The NTT visitors were
able to acquaint group members with experiments currently being conducted at
CSL.
Research
Plan for the Next Six Months
Members
of CSL will familiarize, customize and extend the capabilities of Kismet in
order to use it in experimental situations. MIT will provide long distance
advice and on-site visits from members of our staff who have either mechanical
expertise or computational expertise. This collective effort will facilitate
possible refinements that CSL may identify for Kismet. MIT will be researching,
on robots similar to Kismet, the commanding of robots by voice and the design
and implementation of an ego-sphere for humanoid robots.