A model for a Companion AIBO
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A model for a Companion AIBO
Architecture and Design
19th April 2005
Man-Machine Interaction Group, Technical University Delft
Iulia Dobai
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A model for a Companion AIBOMMI Group, TU Delft
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• 6 years back – SONY introduces the first entertainment
robot: AIBO• 2 years back
– SONY partially opens the black-box• Last couple of years
– Studies are conducted regarding human-AIBO interaction in USA and Japan
– Masahiro Fujita concludes that AIBO is a good partner with humans and useful in mental therapy.
Background and History
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• SONY AIBO Companion Robot:– Behaviors that comes from a “manually
designed database”. – Emotional Expressions are somewhat “bashful” – The personality model behind is “rudimentary”– Sony putts effort in unknown-object learning
and unknown-word technologies • No other entertainment robots are to be
found on the market.• Science is dealing only with task-oriented
robots.
Premises
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Requirements and Challenges• Requirements
– Develop a system architecture for a companion dog– Design and implement software to portray emotions
in AIBO as a result of interaction with humans.– Design of a personality model adapted to AIBO.
• Challenges– Adaptation to AIBO specific hardware and its limitations– Limitations imposed by AIBO specific software– Use of URBI that is still under development– Little is still known or standardized in the cognitive model for humans.
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Requirements in other words…Are you out of your mind? I am sleeping!!!
Get a life! I am still sleeping!
I am so bored! I
wish I had a companion!
7:00 AM 8:00 AM
11:00 AM 14:00 AM
I feel so lonely!!! I am very sad and depressed.
16:00 AM
Finally I have a friend! I am so happy and I even managed to pick up the bone! Wow!!!
AIBO! Bring me my
newspaper!!!
AIBO! Let’s play!!! Follow
me
AIBO! Let’s play!!! Follow
me
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Scenario for Emotional ReasoningScenario: AIBO’s Personality:• Openness- 55%• Conscientiousness – 50%• Extrovert – 60%• Agreeableness – 48%• Neuroticism – 45%AIBO’s Mood• Valence = positive• Arousal = 60%AIBO’s Needs• Physiological needs – 15%• Safety – 100%• Belonging – 80%• Love - … • Achievement- … • Recognition - …
Constant through life-cycle.
Constant changing in time.
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Personality and Needs• Personality
– OCEAN Model of Personality• 5 Dimensions of personality: Openness,
Conscientiousness, Extraversion, Agreeableness, Neuroticism
• Needs– Maslow Pyramid of Needs
• 5 layers of needs in a prioritized order• Needs are satisfied in turns starting down-
top
… more on these
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Mood and Goals, Preferences and Standards
• Mood– 2 dimensional factor: valence and arousal.
• Goals, Preferences and Standards– Goals
• Task oriented objectives that are simple, measurable, realistic and time-framed.
– Preferences• Appealingness to aspects of objects
– Standards• Approval/disapproval regarding actions of
agents
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Emotions and Actions• Instantaneous Emotions
– Emotion categories proposed by Orthony, Clore and Collins (OCC Model of emotional states)
– 6 emotional expressions are used: happiness, sadness, fear, anger, surprise and disgust
• Series of Actions– Represent AIBO specific set of actions that
lead to the accomplishment of a specific goal.– In case of no event occurrence AIBO has a
default and random behavior.
…more on these
…more on these
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The nPME model
Fig 1. nPME Model
Event Driven System• If an event occurs (by event
we understand a registered happening that is detected by AIBO) the response engine is triggered and based on the evaluation of goals, preferences and standards and on the current mood a new emotional state and a set of actions results.
• Types of Events:– Internal Events (battery, timer)– External Events – Direct CommandsnPME Model = needs based Personality – Mood – Emotions Model
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Implementation
• System Architecture– URBI Server
• Interprets URBI Commands from client• Sends raw data from sensors
– Client• Interprets and analyzes data received from
sensors• Reasons about the world AIBO is acting in• Sends to AIBO URBI commands
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Software Architecture and Design• Processing
component– Represents the personality
model described before and consists of two expert systems (/fuzzy expert systems)
• Technologies used:– Java for implementing the entire system.– URBI scripting language for robot-specific
commands.– Jess (/Fuzzy Jess) for the expert systems.
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Project Overview• What have been done?
– Literature survey in the topics of cognitive science, AIBO, robotics, artificial intelligence, autonomous agents.
– Developed a personality model– Developed an implementation model for a companion
AIBO• What brings the future?
– Final implementation and usability Tests– Upgrade to Fuzzy Expert Systems and Tests– Final Report
• Envisioning?– A plug-in system for task-oriented AIBOs.
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Questions ?
Suggestions ?
Inputs and Ideas ?
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OCEAN ModelTrait Adjective
usedto describe
neuroticism emotional stability
Insecure, emotionally distressed
extraversion introversion Talkative, energetic, social
openness to experiences
closeness to experiences
Imaginative, creative, explorative
agreeableness disagreeableness Trusting, friendly, cooperative
conscientiousness
lack of conscientiousness
Methodical, well organized, dutiful
BACK
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OCC Model
Positive NegativeJoy DistressPride HateLove FearHope RemorseRelief AngerGratitude Disappointme
nt+
Surprise Disgust
Expression
State
Joy joy, pride, love, hope, relief, gratitude
Sadness distress, remorse, disappointment
Anger anger, hateFear fear
Used from the OCC Model: Mapping emotional expressions on
emotional states
BACK
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AIBO shows emotional expressions
BACK
Happy
Sad AngryFear
Surprise Disgust
Hint:click on emotion to visualize movie
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AIBO Sensors and Features
BACK
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AIBO Sensors and Features
BACK