Introduction to Talking Robots · 2016. 11. 10. · • Real robots are expensive to test •...

www.helsinki.fi/yliopisto

Introduction toTalking Robots

Graham Wilcock

Adjunct Professor, Docent Emeritus

University of Helsinki

11/11/2016Graham Wilcock / Introduction to Talking Robots 1


Real Robots and Virtual Robots

Graham Wilcock



• Software that simulates robots

• 2D (e.g. Pyro) or 3D (e.g. Webots)

• Often also simulates environment (e.g. physics)

• Real robots are expensive to test

• Simulate first, then test with real robots

• Real-world environments may be dangerous

• We use Choregraphe for Nao

• Develop behaviours with virtual robot

• Test with real robot

11/11/2016 3Graham Wilcock / Introduction to Talking Robots

Robot simulators


• Virtual Collaboration Arena (VirCA)

• 3D Virtual Reality software

• C++ on Windows

• MTA SZTAKI, Budapest

• Hungarian Academy of Sciences

• 3D Internet research lab

• Director: Prof. Peter Baranyi


VirCA(MTA SZTAKI)


VirCA Virtual Collaboration Arena


https://www.youtube.com/watch?v=tw5rtsQO1d0


VirCA: Motion capture controlled real and virtual Nao robots


https://www.youtube.com/watch?v=UfY0tFT-shY


VirCA: Remote commanding of a Kuka industrial robot


https://www.youtube.com/watch?v=CVDIr-v2Gh0


Pyro: Python Robotics

• Old open source Python robotics toolkit

• http://pyrorobotics.com

• For teaching and research in AI and robotics

• With simulators and with real robots

• Reinforcement learning, fuzzy decisions, neural networks, genetic algorithms, ...

• No updates to Pyro since 2008

• Open source Pyro (”Python robotics”)

• Microsoft-funded Myro (”My Robot”) from 2008

11/11/20168Graham Wilcock / Introduction to Talking Robots

http://pyrorobotics.com/


Non-verbal behaviour

• Autonomous behaviour

• Wander randomly

• Avoid obstacles

• Follow a wall

• etc.

• Robot acts silently



Pyspeech: Python Speech

• Old open source Python speech interface

• http://code.google.com/p/pyspeech

• Speech input and output

• Speech recognition functions

• Text-to-speech functions

• For Windows XP computers

• Uses Microsoft Speech Engine


http://code.google.com/p/pyspeech


Verbal behaviour

• Robot explains its

own actions

• ”object on right”

• (therefore) ”turn left”

• Monologue

• One-way info

• Can be irritating

• ”clear, clear, clear...”



Publications using Pyro

• G. Wilcock, K. Jokinen 2011. Adding Speech to a Robotics Simulator. IWSDS 2011, Granada.

• K. Jokinen, G. Wilcock 2011. Emergent Verbal Behaviour in Human-Robot Interaction. CogInfoCom 2011, Budapest.

• K. Jokinen, G. Wilcock 2012. Constructive Interaction for Talking about Interesting Topics. LREC 2012, Istanbul.



• Based on Microsoft architecture

• Windows 7, Visual Studio, C#, .NET

• Kinect sensor, Xbox controller

• Originally commercial license, now free

• Originally could be used with Nao, now cannot

• No updates since 2012


Microsoft:Robotics Developer Studio

https://msdn.microsoft.com/en-us/library/bb648760.aspx


• Webots simulator from Cyberbotics

• Many simulated robots (Kuka, Aibo, Pioneer, ...)

• Many ready-made simulated world items (walls, doors, lights, chairs, tables, rocks, balls, …)

• Several alternative programming languages (C++, Python, MATLAB, ...)


Webots:3D simulator for mobile robots

https://www.cyberbotics.com/webots.php


Webots movies


https://www.cyberbotics.com/movies


• Separate software for Nao

• Webots for Nao, from Aldebaran Robotics

• Only one robot type (Nao)

• Many ready-made world items from Webots

• Can connect Choregraphe to robot in Webots

• Create behaviours in Choregraphe

• Observe them in Webots simulated worlds


Webots for Nao:3D simulator for Nao robots

http://doc.aldebaran.com/2-1/software/webots/webots_index.htmlhttps://www.youtube.com/watch?v=N7xztVebeTw

http://doc.aldebaran.com/2-1/software/webots/webots_index.html

www.helsinki.fi/yliopisto 11/11/2016 18Graham Wilcock / Introduction to Talking Robots

What is ROS?

https://www.youtube.com/watch?v=t2lIQSBaNcY


ROS RVIZ: 3D visualization

https://youtu.be/i--Sd4xH9ZE


Gazebo 3D Simulator and ROS

https://youtu.be/k2wVj0BbtVk

Introduction to Talking Robots · 2016. 11. 10. · • Real robots are expensive to test •...

Documents

Transcript of Introduction to Talking Robots · 2016. 11. 10. · • Real robots are expensive to test •...