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2016 | Buch

Background Concepts and Outline of the Book Kapitel lesen Erstes Kapitel lesen

Sociorobot World

A Guided Tour for All

verfasst von: Spyros Tzafestas

Verlag: Springer International Publishing

Buchreihe : Intelligent Systems, Control and Automation: Science and Engineering

Enthalten in: Springer Professional "Wirtschaft+Technik" , Springer Professional "Technik" , Springer Professional "Wirtschaft"

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SUCHEN

Über dieses Buch

This book makes a consolidated guided tour to the world of sociorobots (social or socialized robots).

Sociorobots and assistive robots provide entertainment, assistance to the handicapped, companionship to the elderly and health care to autistic children and people with dementia. The book provides, in a fluent educational way, all major concepts, architectures and design methodologies. All types of sociorobots are examined, namely walking anthropomorphic, wheeled anthropomorphic, fixed-place anthropomorphic and zoomorphic sociorobots. The book provides an outline of sociorobot intelligent control architectures, robot learning and human robot interaction.

Inhaltsverzeichnis

Frontmatter
Chapter 1. Background Concepts and Outline of the Book
Abstract
Sociorobots (Social Robots) are designed to interact, ‘socially’ with their users, and exhibit human-like appearance and performance. Sociorobots,or as otherwise called ‘socially assistive robots’, are used to provide assistance, entertainment, companionship, and therapeutic care for children and elderly with mental impairments. This chapter provides some basic concepts of sociorobotics, viz. terminology, formal definition and categories of sociorobots, intelligence, autonomy, and locomotion issues of anthropomorphic, zoomorphic, and wheeled mobile sociorobots, including a historical note.
Spyros Tzafestas
Chapter 2. Intelligent Control System Architectures
Abstract
The design of sociorobots can be performed efficiently by exploiting some kind of structured framework, in order to integrate and implement the underlying perception, cognition, learning, control, and social interaction functions. This necessity has motivated the development of many different intelligent control architectures with particular features, advantages, and weaknesses. This chapter starts by providing a discussion of the basic functional design requirements, and an outline of the two early seminal behavior-based control architectures, namely the subsumption and motor schemas architectures, Then, the chapter describes three important newer architectures, namely a 4-layer architecture, the deliberative-reactive architecture, and the combined symbolic/ subsumption/ servo-control (SSS) architecture. A general discussion and categorization of the characteristics of the intelligent control architectures is also included. All these architectures were used successfully in many available sociorobots.
Spyros G. Tzafestas
Chapter 3. Sociorobot Learning
Abstract
Learning is a fundamental capability of sociorobots, which enables them to learn basic social functions and behaviors. It is the basic prerequisite of intelligence, and is defined as the capability of an agent to modify and enhance its knowledge based on past experience in order to improve its future performance. To embed emotional intelligence in a sociorobot, the following abilities need to be included: self-awareness, emotion management, empathy, motivation, and social competence/skill relation handling. The purpose of this chapter is to discuss the three dominant machine learning mechanisms (supervised, unsupervised, reinforcement learning), the basic features of sociorobot learning by imitation, the benefits of combined imitation and non-imitation learning, and the features of active learning.
Spyros G. Tzafestas
Chapter 4. Human-Robot Social Interaction
Abstract
Human-robot interaction (HRI) is one of the principal functions needed for a smooth and profitable co-habitation (symbiosis) of humans and robots. The robots have to operate with the close presence of humans in environments that that are usually well matched to human motion and action capabilities. For a robot to be able to work efficiently in such real-world environments, both mechanical motion abilities and skills, and good interfaces that assure proper human-robot social interaction are needed. This chapter presents some general HRI classification schemes based on several criteria, and the principal sociorobot categories according to morphology, sociality, the level of relationship, etc. Then, the chapter discusses some unimodal and multimodal human-robot interfaces (vision-based, audio-based, sensor-based), and outlines the typical hardware/software design and evaluation issues of human-robot interfaces.
Spyros G. Tzafestas
Chapter 5. Walking Anthropomorphic Sociorobots
Abstract
Walking bipedal anthropomorphic robots (also known as humanoids, androids or gynoids) are very complex mechanical creatures with very large numbers of motion degrees of freedom. In many cases they are designed to exhibit face and emotional expressions with the aid of a large number of motors inside their head. Typically, their present cost is prohibitive, and so many robotic companies are now turning their efforts toward producing cheap humanoids with open source software and modular design, in order to be usable and affordable by Universities and research institutes. This chapter starts with a discussion of some fundamental issues concerning the design of humanoid heads and faces. Then, the chapter outlines the specifications, structures, features, and capabilities of seven walking anthropomorphic robots, namely: Honda’s ASIMO, Fujitsu’s HOAP-3, Sony’s QRIO, Abdebaran Robotics’ NAO, Japan METI’s HRP-2, Tokyo University’s gynoid SAYA, and KAIST’s android Albert HUBO.
Spyros G. Tzafestas
Chapter 6. Wheeled Mobile Anthropomorphic Sociorobots
Abstract
Wheeled mobile anthropomorphic robots (WMAR’s) are very popular due to their increased mobility and stability, and the relatively affordable cost. A WMAR has a mobile platform which very often accommodates inside it the required computer and other hardware equipment. The upper part or torso of WMAR’s may have any form from very simple to very complex depending on the application(s) for which they are designed. This chapter discusses the general structure of WMAR’s, and provides a conceptual description of two sophisticated WMAR’s, namely ARMAR III (Karlsruhe University), and Rollin Justin (DLR: German Aerospace Center). Then, the chapter describes seven available WMAR’s designed for social interaction with humans. These robots are: Maggie, Robovie, CosmoBot, Bandit, PEARL, Nexi, and Mobiserv.
Spyros G. Tzafestas
Chapter 7. Fixed Place Anthropomorphic Sociorobots
Abstract
Fixed place anthropomorphic robots are primarily used for research purposes, and consist of an upper humanoid torso from waist up. Very often they are only robotic heads and faces, or legged robots not designed to walk. Typically, they are socially interactive robots that can function as partners, peers or assistants. Most fixed place sociorobots are designed with primary goal the interaction with people, and have no embedded skills for performing specific tasks. The purpose of this chapter is to outline three sophisticated fixed place robots created at MIT (namely Cog, Kismet, and Leo),and to describe three other upper-torso sociorobots, viz. Nico (Yale University), Barthoc (Bielefeld University), and Simon (Georgia Tech). Then, three small-size entertainment sociorobots developed by the University of Hertfordshire (KASPAR), Swiss Federal Institute of Technology (ROBOTA), and NEC Corporation (PaPeRo), are presented. These robots give a good picture of the state-of-art of fixed-place research, entertainment or therapy robots.
Spyros Tzafestas
Chapter 8. Zoomorphic Sociorobots
Abstract
Zoomorphic (animal-like) sociorobots (also known as animalbots) are primarily used as a means of socialization of people who need companion because for various reasons become or feel lonely. As a response to the shortage of human social interaction, roboticists have turned their interest to build zoomorphic sociorobots (dogbots, catbots, etc.). Due to cultural reasons, most of the commercialized sociorobots for entertainment and therapy are produced in Japan, where people believe that robots and other artifacts have a spirit and treat them with affection. This chapter provides a brief conceptual description of the following animalbots: AIBO dogbot (Sony), i-Cat robot (Philips), Paro seal robot (AIST), Pleo dinosaur robot (Ugobe), Teddy bear robot (Fujitsu), NeCoRo catbot (Omron), and Probot elephant-like sociorobot (VUB).
Spyros G. Tzafestas
Chapter 9. Sociorobot Field Studies
Abstract
Sociorobots were applied in numerous structured and real-life environments, in which their social interaction capabilities were tested and evaluated. In most studies the two principal ways of assessment followed are: direct observation where full sessions were monitored and video-taped, and questionnaires where participants answer appropriate ‘yes/no’ questions. This chapter summarizes the results of a number of field studies concerning the social performance, entertainment, companionship, and therapeutic competencies of ten sociorobots, namely: QRIO and NAO walking humanoids, COSMOBOT, BANDIT and PEARL wheeled mobile humanoids, KASPAR and ROBOTA fixed-place humanoids, and AIBO, PARO and PLEO zoomorphic robots.
Spyros Tzafestas
Chapter 10. Complementary Sociorobot Issues
Abstract
Sociorobots represent a class of ‘conversational artificial beings’ which can be used for social caring of people needing it, for entertainment, and in many cases for research purposes. The aim of this chapter is to deal with a number of conceptual and practical issues of sociorobot design complementary to those discussed in other chapters of the book. Specifically, the chapter discusses the general sociorobot design, embodiment, and morphology aspects, investigates more closely the human-oriented robot perception (person tracking, face and gesture recognition, speech recognition), presents the concept of ‘design pattern’ as applied to sociorobots, and provides a brief account of sociorobot ethical issues, viz., attachment, deception, awareness, robot authority, user autonomy, user privacy, justice, and robot mediated human-human interaction.
Spyros G. Tzafestas
Backmatter
Metadaten
Titel
Sociorobot World
verfasst von
Spyros Tzafestas
Copyright-Jahr
2016
Electronic ISBN
978-3-319-21422-1
Print ISBN
978-3-319-21421-4
DOI
https://doi.org/10.1007/978-3-319-21422-1

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