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How to build Social Robots WS 2006/07

Veranstaltung 1:

(1) Soziale Roboter als Interface zwischen Mensch und Maschine(2) Definition: Soziale Roboter(3) Typen sozialer Roboter nach Breazeal

Veranstaltung 2:

(1) Anthropomorphismus(2) Klassifikation der Roboter nach Form

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Gestaltung von sozialen Robotern

1. Funktion2. Form3. Kontext4. Kommunikation

Application

Interface

Human

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Virtueller Charakter als Roboter/Agent

Funktion

Form

Kontext

Virtueller Charakter

EmotionPersönlichkeitWerte, Ziele, BedürfnisseBewusstsein...

Mimik und GestikVerhaltenKommmunikation allg....

ApplikationRolle...

}}}

Wie?

Was?

Warum, wozu?

Mensch

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Anthropomorphismus

„Es ist ein übliches Verfahren, das Bild von uns selbst in Dinge oder Funktionen von Dingen in die Außenwelt zu projezieren. Diese Art der Projektion nenne ich Anthropomorphisierung. Da wir alle Erfahrung von uns selbst haben, ist der unmittelbarste Weg zum Verstehen von X für uns, eine Abbildung zu finden, in der wir uns durch X selbst dargestellt sehen können.

Dies wird deutlichst demonstriert dann, wenn wir bestimmten Dingen die Namen von Teilen unseres Körpers geben, weil sie diesen strukturell und funktional ähnlich sind: Wir sprechen vom Kopf einer Schraube, von den Backen eines Schraubstocks, den Zähnen einer Säge, vom Hals einer Flasche, von den Beinen eines Tisches.“

Anthropomorphisierungen dienen in den meisten Fällen als hilfreiche Algorithmen zur Steu-erung des Verhaltens.

H. v. Foerster, Wissen und Gewissen, 1993

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Anthropomorphismus - Beispiele

Beispiele: Der treue Hund, das edle Pferd, der stolze Löwe, der schlaue Fuchs und Gedächt-nis bei Computern. Aber auch Micky Maus, Gott usf.

(1) Animal Farm (2) Surrealismus (3) Micky Maus (4) Vegienaps

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Anthropomorphismus in der Robotik

„While anthropomorphism is clearly a very complex notion, it intuitively provides us with very powerful physical and social features that are being implemented to a greater extent in social robot research.“ (1)

- function as a mechanism (for design, for interpreting behavior, etc.) through which social interaction can be facilitated.

Anthropomorphism... attribution of human qualities to nonhumans. (2)

- People attribute human qualities products and machines - and they design products, and machines to enhance this process.

- Our anthropomorphic perception influences how we interact with products: how much we like them, how much we trust them, and how much we rely on them.

(1) B. Duffy, Anthropomorphism and The Social Robot, 2003(2) http://www.anthropomorphism.org

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Anthropomorphismus

Perceiving Humanlikeness:

Under which conditions do we attribute humanlikeness to nonhumans?

(a) Having a human face(b) Physical appearance and social behavior(c) Social context cues(d) Social interaction(e) Personality

...

http://www.anthropomorphism.org

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Anthropomorphismus - Perceiving Humanlikeness

(a) Having a human face

Faces acquire emotional and social significance (face = more humanlike).

Robotic heads with more facial features were rated as more humanlike.

C. DiSalvo et al, All robots are not created equal (2002)

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Anthropomorphismus - Perceiving Humanlikeness

(b) Physical appearance and social behavior

Having a head, arms or legs, increases anthropomorphism, especially when accompanied by „social“ movements like turning the head toward a person.

Sculpture, Antony GormleySculpture, Ron Mueck

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Anthropomorphismus - Perceiving Humanlikeness

(c) Social context cues

F. Heider and M. Simmel, An experimental study of apparent behavior (1944)

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Anthropomorphismus - Perceiving Humanlikeness

(d) Social interaction

Humans form mental models of ourselves and others during social interaction. Anthropo-morphism involves a mental model in which the nonhuman (animal or object) is thought to have human attributes. For example, we may blame the animal or object for a mistake, thinking it intended to act as it did.

When we are interacting with an animal or object, we can‘t think intellectually about what is really going on, for instance, a biological animal or computer program. Instead we focus on what the animal or object is doing and automatically make attributions as we do with people.

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Anthropomorphismus - Perceiving Humanlikeness

(e) Personality

People perceive animals to have personality traits (for example, extraverted dogs).

We often attach traits to animals and objects when their behavior matches our stereotypes of these traits in people - doing so is probably automatic.

This helps us predict behavior and form expectations.

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Anthropomorphic Form

Anthropomorphism vs. Anthropomorphic Form:

The colloquial use of the word form emphasizes the physical shape of an object but designers view form as the total expression of an object.

(a) How is the human form imitated (qualities, material properties)?(b) What is the purpose of imitating human form?(c) What constitutes human form? What aspect of human form is being imitated?

Four aspects of anthropomorphic form ( - not hard and fast categories):

(1) structural anthropomorphic form(2) gestural anthropomorphic form(3) anthropomorphic form of character(4) aware anthropomorphic form

C. DiSalvo et al, Imitating the Human Form: Four Kinds of Anthropomorphic Form, 2005

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Anthropomorphic Form

(1) Structural Anthropomorphic Form

... imitates the construction of the human body with a focus on its materiality. The pres-ence of shapes, volumes, mechanisms, or arrangements that mimic the appearance or func-tioning of the human body is evidence of structural anthropomorphic form. It draws from knowledge of human anatomy and reflects the thingness of the human body.

Wooden figures Sculpture, Antony Gormley

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Anthropomorphic Form

(1) Structural Anthropomorphic Form

Honda Asimo

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Anthropomorphic Form

(2) Gestural Anthropomorphic Form

... imitates the ways people communicate with and through the human body with a focus on human behavior. The use of motions that suggest human action to express meaning, intention, or instruction is evidence of gestural anthropomorphic form. It draws from know-ledge of human non-verbal communication and reflects the expressiveness of the human body.

Macintosh: Login Screen Chair

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Anthropomorphic Form

(2) Gestural Anthropomorphic Form

Karl Sims (Thinking Machines), Evolved Virtual Creatures

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Anthropomorphic Form

(3) Anthropomorphic Form of Character

... imitates the traits, roles or functions of people. It also emphasizes the purpose of in-dividual action. The display of qualities or habits that define and describe individuals are evidence of the anthropomorphic form of character. It draws from knowledge of societal conventions and contexts and reflects the practices people engage in.

Gaultier

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Anthropomorphic Form

(4) Aware Anthropomorphic Form

... imitates the human capacity for thought, intentionality, or inquiry. It also recognizes the social qualities of being human. Unlike the anthropomorphic form of character, which represents the individual in the society, aware anthropomorphic form emphasizes a common nature of being human.

Currently, aware anthropomorphic forms live at the boundary between science fiction and science fact. Many systems are being designed that imitate a form of being human through programmed abilities to learn, adapt, reason, or interact sociably.

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Anthropomorphic Form

Relationships

(a) Emphasis: Human Body, Human Being(b) Change(c) One artifact, multiple kinds of anthropomorphic form

(1) Structural Is there a body or body parts? Does it work like a human body? Are the parts universal to all human bodies?

(2) Gestural Is there action or expression? Does that action tell you something? Could you assign human meaning?

(3) Character Does it imitate human relationships? Could you describe its character or social role? Does it relate to a human experience?

(4) Aware Does it appear to be aware? Is there a simulation of human consciousness? Do you relate to it as a human?

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Form und Gestalt

„Form and Structure is important because it helps establish social expectations. Familiari-ty of a robot´s morphology can have profound effects on its accessibility, desirability, and expressiveness.“ (1)

Mögliche Klassifikationen von Form und Gestalt:

(1) T. Fong et al, A Survey of Socially Interactive Robots (2003)(2) http://www.paro.jp/english/model01.htm

(a) human-like(b) familiar animals as pets (dogs, cats)(c) non-familiar animals as pets (seals, elephants)(d) new characters and artificial animals

(2)

(a) anthropomorphic(b) zoomorphic(c) caricatured(d) functional

(1)

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Uncanny Valley Hypothesis (Masahiro Mori, 1970s)

humanoid robot

Uncanny Valley

Healthy Person

prosthetic hand

familiarity

human likeness 50% 100%

stuffed animalindustrial robot

corpse

zombie}

movementappearance

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Robots - Anthropomorphism / Human-Like

(1) http://www.ed.ams.eng.osaka-u.ac.jp/(2) http://www.rhombos.de/shop/a/show/story/?809(3) http://www.hansonrobotics.com/(4) http://www.techfak.uni-bielefeld.de/ags/ai/projects/BARTHOC/

(1) Hiroshi Ishiguro (2) Ever-1 (Eve -R 1) (3) Hanson´s Einstein (4) BARTHOC (jr.)

...

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Robots - Beispiel

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Robots - Beispiel

Hanson

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Robots - Beispiel

Hanson

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Robots - Beispiel

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Robots - Zoomorphic / Pets (familiar & non-familiar)

(1) http://www.paro.jp/english/index.html(2) http://support.sony-europe.com/aibo/(3) http://www.hitech-projects.com/icat/(4) http://univ.nict.go.jp/past_pj/univ/research_06_e.html

(1) Paro (2) Sony Aibo (3) Philips iCat (4) Keepon

...

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Robots - Caricatured / Artificial Animals

(1) http://robotic.media.mit.edu/projects/Leonardo/Leo-intro.html (2) http://www.incx.nec.co.jp/robot/english/papero2005/(3) http://www.ai.mit.edu/projects/humanoid-robotics-group/kismet/kismet.html(4) http://www.bartneck.com/work/researchProjects/socialRobotics/emuu/

(1) Leonardo (2) PaPeRo (3) Kismet (4) eMuu

...

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Robots - Beispiel

eMuu

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Robots - Functional

(1) http://www.robot.lth.se/(2) http://robotgossip.blogspot.com/2006/05/robot-as-artist.html(3) http://www.rotundus.se/(4) http://www.irobot.com/sp.cfm?pageid=138

(1) ABB HM-05 (2) Artist Robot (3) Rotundus (4) PackBot EOD

...

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Robots - Beispiel

ABB - Eindhoven

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Robots - Science Fiction

(1) http://www.jeffbots.com/starwars.html(2) http://www.jeffbots.com/starwars.html(3) http://www.rotundus.se/(4) http://mitpress.mit.edu/e-books/Hal/

(1) C3PO (2) R2D2 (3) iRobot (4) HAL

...