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MIT Artificial Intelligence Laboratory — Research Directions
The Next Generation of Robots?Rodney Brooks
and
Una-May O’Reilly
MIT Artificial Intelligence Laboratory — Research Directions
Our Objectives
• How can biology inform robotic competence?
• How can aspects of human development and social behavior inform robotic competence?
MIT Artificial Intelligence Laboratory — Research Directions
Our Approach
• Exploit the advantages of the robot’s physical embodiment
• Integrate multiple sensory and motor systems to provide robust and stable behavioral constraints
• Capitalize on social cues from an instructor
• Build adaptive systems with a developmental progression to limit complexity
MIT Artificial Intelligence Laboratory — Research Directions
Cog and Kismet
Our Humanoid Platforms
MIT Artificial Intelligence Laboratory — Research Directions
Biological Inspiration for Cog
• Cog has simulated musculature in its arms
• Cog has an implementation of a human model of visual search and attention
• Cog employs context-based attention and internal situations influence action
• Cog uses a naïve model of physics to distinguish animate from inanimate
MIT Artificial Intelligence Laboratory — Research Directions
Social Inspiration for Cog
• A theory of mind
• A theory of body
• Mimicry
MIT Artificial Intelligence Laboratory — Research Directions
Neck pan
Neck tilt
Neck lean
Eye tilt
Left eye panRight eye pan
Camera with wide field of viewCamera with narrow field of viewAxis of rotation
Human <—> Robot
Microphones
Cameras
Speech synthesizer
Facial features
Gaze direction
Head orientation
MIT Artificial Intelligence Laboratory — Research Directions
Levels of Control
robot respondsto human
human respondsto robot
Social Level
Primitives Level
Skills Level
Behavior Level
current goal
current primitive(s)coordination
between motormodalities
perceptualfeedback
MIT Artificial Intelligence Laboratory — Research Directions
Kismet’s Competencies
• Direct Visual Attention
• Recognize Socially Communicated Reinforcement
• Communicate Internal State to Human
• Regulation of Social Interaction
MIT Artificial Intelligence Laboratory — Research Directions
No One in Charge
• 11 400-500 MHz PCs– QNX (vision)
– Linux (speech recognition)
– NT (speech synthesis & vocal affect recognition
NTspeech synthesisaffect recognition
LinuxSpeech
recognition
Face Control
EmotiveResponse
Percept& Motor
Drives & Behavior
L
Tracker
Attnsystem
Dist.to
target
Motionfilter
Eyefinder
Motorctrl
audiospeechcomms
Skinfilter
Colorfilter
QNX
CORBA
CORBA
CORBA
dual-portRAM
CamerasEye, neck, jaw motors
Ear, eyebrow, eyelid,lip motors
Microphone
Speakers
• 4 Motorola 68332 micro-controllers
• L, multi-threaded lisp
• higher-level perception, motivation, behavior, motor skill integration & face control
MIT Artificial Intelligence Laboratory — Research Directions
Visual Attention
inh
ibit
res
et
Frame Grabber
Eye Motor Control
Top down,task-driveninfluences
w w w w
skin tone habituationmotioncolor
attention
MIT Artificial Intelligence Laboratory — Research Directions
Visual Search
MIT Artificial Intelligence Laboratory — Research Directions
Social Constraints
Comfortable interaction speed
Too fast – irritation
response
Too fast,Too close –
threat response
Comfortable interaction distance
Too close – withdrawal response
Too far – calling
behavior
Person draws closer
Person backs off
Beyond sensor range
MIT Artificial Intelligence Laboratory — Research Directions
Cross Cultural Affect
Evidence for 4 contours inKismet-directed speech
time (ms)
pitc
h, f
(kH
z)o
approval
That’s a good bo-o-y! No no baby.
time (ms)pi
tch,
f (
kHz)
o
prohibition
Can youget it?
Can youget it?
time (ms)
pitc
h, f
(kH
z)o
attention
time (ms)
pitc
h, f
(kH
z)o
MMMM Oh, honey.
comfort
MIT Artificial Intelligence Laboratory — Research Directions
Affect Recognizer
prohibition attention & approval
soothing & low-energy neutral
neutral
Soothing & Low-Intensity
neutralvs
Everything Else
Soothingvs
Low-Intensity Neutral
Approval & Attentionvs
Prohibitionvs
High Intensity Neutral
approvalvs
attention
soothing
prohibition
neutral
approval
attention
ener
gy v
aria
nce
pitch mean
MIT Artificial Intelligence Laboratory — Research Directions
Naive Subjects
• 5 female subjects• 4 naive subjects• 1 caregiver
• Four contours and neutral speech
• praise, prohibition, attention, soothing
• Multiple languages• French, German, Indonesian,
English, Russian
• Driven by Human
MIT Artificial Intelligence Laboratory — Research Directions
Facial Expressions
arousal
sleep
displeasure pleasureneutral
excitement
depression
stress
calm
afraidangry
frustrated
relaxed
content
elated
bored
sad
fatigued
happy
surprise
sleepy
MIT Artificial Intelligence Laboratory — Research Directions
Facial Postures in Affect Space
Negativevalence
Open stance
surprise
unhappy
tired
anger
fearLow
arousal
Higharousal
Positivevalence
Closed stance
disgust
accepting
stern
content
MIT Artificial Intelligence Laboratory — Research Directions
Face, Voice, Posture
MIT Artificial Intelligence Laboratory — Research Directions
Turn-Taking / Proto-Dialog
•Naïve subjects•Told to “talk to the robot”•Engage in turn taking•No understanding (on either side) of content
MIT Artificial Intelligence Laboratory — Research Directions
Implemented Model of Visual Search and Attention
Activation Map
Color w
Skin w
Motion w MotorSystem
Motivation System
Habituation w
MIT Artificial Intelligence Laboratory — Research Directions
MIT Artificial Intelligence Laboratory — Research Directions
Hardware – Cog’s Arms
• 6 DOF in each arm
• Series elastic actuator
• Force control
• Spring law
Motor andGearbox
Encoder
Spring
Bearing
Actuatoroutput
xbkxxF )(
MIT Artificial Intelligence Laboratory — Research Directions
Hardware – Cog’s Head
• 7 degrees of freedom
• Human speed and range of motion
MIT Artificial Intelligence Laboratory — Research Directions
Visual and Inertial Sensors
Peripheral View
Foveal View
Peripheral View
Foveal View
3-axis inertial sensor
MIT Artificial Intelligence Laboratory — Research Directions
Computational System
• Designed for real-time responses
• Network of 24 PC’s ranging from 200-800 MHz
• QNX real-time operating system
• Implementation shown today consists of – ~26 QNX processes
– ~75 QNX threads
MIT Artificial Intelligence Laboratory — Research Directions