1 Towards Robot Theatre Marek Perkowski Department of Electrical and Computer Engineering Portland State University Portland Oregon 97207-0751 2
Humanoid Robots and Robot Toys
3 Talking Robots
Many talking robots exist but they are still very primitive
Work with elderly and disabled
Actors for robot theatre agents for advertisement education and entertainment.
Designing inexpensive natural size humanoid caricature and realistic robot heads
Dog.com from Japan We concentrate on Machine Learning techniques used to teach robots behaviors natural language dialogs and facial gestures. Work in progress 4 Robot with a Personality
Future robots will interact closely with non-sophisticated users children and elderly so the question arises how they should look like
If human face for a robot then what kind of a face
Handsome or average realistic or simplified normal size or enlarged
The famous example of a robot head
is Kismet from MIT.
Why is Kismet so successful
We believe that a robot that will interact with humans should have some kind of personality and Kismet so far is the only robot with personality.
5 Robot face should be friendly and funny
The Muppets of Jim Henson are hard to match examples of puppet artistry and animation perfection.
We are interested in robots personality as expressed by its
learned speech patterns.
6 Behavior Dialog and Learning Words communicate only about 35 of the information transmitted from a sender to a receiver in a human-to-human communication. The remaining information is included in para-language. Emotions thoughts decision and intentions of a speaker can be recognized earlier than they are verbalized. NASA
Robot activity as a mapping of the sensed environment and internal states to behaviors and new internal states (emotions energy levels etc).
Our goal is to uniformly integrate verbal and non-verbal robot behaviors.
7 (No Transcript) 8 Moritas Theory 9
Our Base Model and Designs
10 Neck and upper body movement generation 11 Robot Head Construction 1999 High school summer camps hobby roboticists undergraduates Furby head with new control Jonas We built and animated various kinds of humanoid heads with from 4 to 20 DOF looking for comical and entertaining values. 12
Latex skin from Hollywood 4 degree of freedom neck 13 Robot Head Construction 2000 Skeleton Alien We use inexpensive servos from Hitec and Futaba plastic playwood and aluminum. The robots are either PC-interfaced use simple micro-controllers such as Basic Stamp or are radio controlled from a PC or by the user. 14 Technical Construction 2001 Details Marvin the Crazy Robot Adam 15
2001 heads equipped with microphones USB cameras sonars and CDS light sensors 16 2002 Max
BUG (Big Ugly Robot)
Image processing and pattern recognition uses software developed at PSU CMU and Intel (public domain software available on WWW). Software is in Visual C Visual Basic Lisp and Prolog. 17 Visual Feedback and Learning based on Constructive Induction 2002 Uland Wong 17 years old 18 Professor Perky 2002 Japan Professor Perky with automated speech recognition (ASR) and text-to-speech (TTS) capabilities
We compared several commercial speech systems from Microsoft Sensory and Fonix.
Based on experiences in highly noisy environments and with a variety of speakers we selected Fonix for both ASR and TTS for Professor Perky and Maria robots.
We use microphone array from Andrea Electronics.
1 dollar latex skin from China 19 Maria 2002/2003 20 DOF 20 Construction details of Maria location of head servos skull location of controlling rods location of remote servos Custom designed skin 21 Animation of eyes and eyelids 22 Cynthia 2004 June 23 Currently the hands are not moveable. We have a separate hand design project. 24 Software/Hardware Architecture
Network- 10 processors ultimately 100 processors.
Robotics Processors. ACS 16
Speech cards on Intel grant
Tracking in all robots.
Robotic languages Alice and Cyc-like technologies.
25 Face detection localizes the person and is the first step for feature and face recognition. Acquiring information about the human face detection and recognition speech recognition and sensors. 26 Face features recognition and visualization. 27 Use of Multiple-Valued (five-valued) variables Smile Mouth_Open and Eye_Brow_Raise for facial feature and face recognition. 28 HAHOE KAIST ROBOT THEATRE KOREA SUMMER 2004 Czy znacie dobra sztuke dla teatru robotow Sonbi the Confucian Scholar Paekchong the bad butcher 29 Editing movements 30 Yangban the Aristocrat and Pune his concubine The Narrator 31 The Narrator 32 (No Transcript) 33 We base all our robots on inexpensive radio-controlled servo technology. 34 We are familiar with latex and polyester technologies for faces Martin Lukac and Jeff Allen wait for your help whether you want to program design behaviors add muscles improve vision etc. 35 New Silicone Skins 36 A simplified diagram of software explaining the principle of using machine learning based on constructive induction to create new interaction modes of a human and a robot. 37
Probabilistic and Finite State Machines
38 Probabilistic State Machines to describe emotions you are beautiful / Thanks for a compliment P1 Happy state you are blonde! / I am not an idiot P0.3 you are blonde! / Do you suggest I am an idiot Unhappy state P0.7 Ironic state 39 Facial Behaviors of Maria Do I look like younger than twenty three Maria asks Response
0.7 0.3 Maria smiles Maria frowns 40 Probabilistic Grammars for performances Speak Professor Perky blinks eyes twice P0.1 Speak Professor Perky Where P0.3 Who P0.5 P0.5 P0.5 Speak in some location smiles broadly Speak In the classroom shakes head Speak Doctor Lee What P0.1 P0.1 P0.1 Speak Was singing and dancing P0.1 Speak Was drinking wine . 41 Human-controlled modes of dialog/interaction Human teaches Thanks I have a lesson Hello Maria Lesson finished Robot performs Robot asks Question Stop performance Questioning finished Command finished Thanks I have a question Thanks I have a command Human commands Human asks 42
Dialog and Robots Knowledge
43 Robot-Receptionist Initiated Conversation Human Robot What can I do for you Robot asks This represents operation mode 44 Robot-Receptionist Initiated Conversation Human Robot What can I do for you I would like to order a table for two Robot asks 45 Robot-Receptionist Initiated Conversation Human Robot Smoking or non-smoking Robot asks 46 Robot-Receptionist Initiated Conversation Human Robot Smoking or non-smoking I do not understand Robot asks 47 Robot-Receptionist Initiated Conversation Human Robot Do you want a table in a smoking or non-smoking section of the restaurant Non-smoking section is near the terrace. Robot asks 48 Robot-Receptionist Initiated Conversation Human Robot Do you want a table in a smoking or non-smoking section of the restaurant Non-smoking section is near the terrace. A table near the terrace please Robot asks 49 Human-Initiated Conversation Human Robot Hello Maria initialization Robot asks 50 Human-Initiated Conversation Human Robot Hello Maria What can I do for you Robot asks 51 Human-Asking Human Robot Question Question Robot asks Human asks 52 Human-Asking Human Robot Question Yes you ask a question. Human asks 53 Human-Asking Human Robot What book wrote Lee Yes you ask a question. Human asks 54 Human-Asking Human Robot What book wrote Lee I have no sure information. Human asks 55 Human-Asking Human Robot Try to guess. I have no sure information. Human asks 56 Human-Asking Human Robot Try to guess. Lee wrote book Flowers. Human asks 57 Human-Asking Human Robot This is not true. Lee wrote book Flowers. Human asks 58 Human-Teaching Human ends questioning Human Robot Questioning finished Human asks Human teaches Questioning finished Robot asks Thanks I have a lesson 59 Human-Teaching Robot enters asking mode Human Robot Questioning finished What can I do for you Human asks Human teaches Questioning finished Robot asks Thanks I have a lesson 60 Human-Teaching Human starts teaching Human Robot Thanks I have a lesson What can I do for you Human asks Human teaches Questioning finished Robot asks Thanks I have a lesson 61 Human-Teaching Human Robot Thanks I have a lesson Yes Human teaches 62 Human-Teaching Human Robot I give you question-answer pattern Yes Human teaches 63 Human-Teaching Human Robot Question pattern What book Smith wrote Yes Human teaches 64 Human-Teaching Human Robot Answer pattern Smith wrote book Automata Theory Yes Human teaches 65 Human-Teaching Human Robot Checking question What book wrote Smith Yes Human teaches 66 Human-Teaching Human Robot Checking question What book wrote Smith Smith wrote book Automata Theory Human teaches 67 Human-Teaching Human Robot I give you question-answer pattern Yes Human teaches 68 Human-Teaching Human Robot Question pattern Where is room of Lee Yes Human teaches 69 Human-Teaching Human Robot Answer pattern Lee is in room 332 Yes Human teaches 70 Human-Checking what robot learned Human Robot Lesson finished Human teaches Lesson finished Question Robot asks Human asks 71 Human-Checking what robot learned Human Robot Lesson finished What can I do for you Human teaches Lesson finished Question Robot asks Human asks 72 Human-Checking what robot learned Human Robot Question What can I do for you Human teaches Lesson finished Question Robot asks Human asks 73 Human-Asking Human Robot Question Yes you ask a question. Human teaches Lesson finished Question Robot asks Human asks 74 Human-Asking Human Robot What book wrote Lee Yes you ask a question. Human asks 75 Human-Asking Human Robot What book wrote Lee I have no sure information. Human asks 76 Human-Asking Human Robot Try to guess. I have no sure information. Human asks 77 Human-Asking Human Robot Try to guess. Lee wrote book Automata Theory Observe that robot found similarity between Smith and Lee and generalized (incorrectly) Human asks 78 Behavior Dialog and Learning
The dialog/behavior has the following components
(1) Eliza-like natural language dialogs based on pattern matching and limited parsing.
Commercial products like Memoni Dog.Com Heart Alice and Doctor all use this technology very successfully for instance Alice program won the 2001 Turing competition.
This is a conversational part of the robot brain based on pattern-matching parsing and black-board principles.
It is also a kind of operating system of the robot which supervises other subroutines.
79 Behavior Dialog and Learning
(2) Subroutines with logical data base and natural language parsing (CHAT).
This is the logical part of the brain used to find connections between places timings and all kind of logical and relational reasonings such as answering questions about Japanese geography.
(3) Use of generalization and analogy in dialog on many levels.
Random and intentional linking of spoken language sound effects and facial gestures.
Use of Constructive Induction approach to help generalization analogy reasoning and probabilistic generations in verbal and non-verbal dialog like learning when to smile or turn the head off the partner.
80 Behavior Dialog and Learning
(4) Model of the robot model of the user scenario of the situation history of the dialog all used in the conversation.
(5) Use of word spotting in speech recognition rather than single word or continuous speech recognition.
(6) Continuous speech recognition (Microsoft)
(7) Avoidance of I do not know I do not understand answers from the robot.
Our robot will have always something to say in the worst case over-generalized with not valid analogies or even nonsensical and random.
82 (No Transcript) 83 Example Age Recognition Examples of data for learning four people given to the system 84 Example Age Recognition Encoding of features values of multiple-valued variables 85 Multi-valued Map for Data Groups show a simple induction from the Data d F( a b c ) 86 Old people smile rarely Groups show a simple induction from the Data blonde hair Grey hair Middle-age people smile moderately Teenagers smile often Children smile very often 87 Another example teaching movements Input variables Output variables 88 Generalization of the Ashenhurst-Curtis decomposition model 89 This kind of tables known from Rough Sets Decision Trees etc Data Mining 90 Original table Second variant First variant of decomposition At every step many decompositions exist Decomposition is hierarchical Which decomposition is better 91 Constructive Induction Technical Details
U. Wong and M. Perkowski A New Approach to Robots Imitation of Behaviors by Decomposition of Multiple-Valued Relations Proc. 5th Intern. Workshop on Boolean Problems Freiberg Germany Sept. 19-20 2002 pp. 265-270.
A. Mishchenko B. Steinbach and M. Perkowski An Algorithm for Bi-Decomposition of Logic Functions Proc. DAC 2001 June 18-22 Las Vegas pp. 103-108.
A. Mishchenko B. Steinbach and M. Perkowski Bi-Decomposition of Multi-Valued Relations Proc. 10th IWLS pp. 35-40 Granlibakken CA June 12-15 2001. IEEE Computer Society and ACM SIGDA.
92 Constructive Induction
Decision Trees Ashenhurst/Curtis hierarchical decomposition and Bi-Decomposition algorithms are used in our software
These methods create our subset of MVSIS system developed under Prof. Robert Brayton at University of California at Berkeley 2.
The entire MVSIS system can be also used.
The system generates robots behaviors (C program codes) from examples given by the users.
This method is used for embedded system design but we use it specifically for robot interaction.
93 Ashenhurst Functional Decomposition Evaluates the data function and attempts to decompose into simpler functions. F(X) H( G(B) A ) X A B X B - bound set if A B it is disjoint decomposition if A B it is non-disjoint decomposition 94 A Standard Map of function z Explain the concept of generalized dont cares Bound Set a b \ c Columns 0 and 1 and columns 0 and 2 are compatible column compatibility 2 Free Set z 95 NEW Decomposition of Multi-Valued Relations F(X) H( G(B) A ) X A B A X Relation Relation B if A B it is disjoint decomposition if A B it is non-disjoint decomposition 96 Forming a CCG from a K-Map Columns 0 and 1 and columns 0 and 2 are compatible column compatibility index 2 Column Compatibility Graph z 97 Forming a CIG from a K-Map Columns 1 and 2 are incompatible chromatic number 2 Column Incompatibility Graph 98 Constructive Induction
A unified internal language is used to describe behaviors in which text generation and facial gestures are unified.
This language is for learned behaviors.
Expressions (programs) in this language are either created by humans or induced automatically from examples given by trainers.
Braitenberg Vehicles and Quantum Automata Robots
100 Another Example Braitenberg Vehicles and Quantum BV 101 Braitenberg Vehicles 102 Quantum Circuits Toffoli gate Universal uses controlled square root of NOT 0 1 x 0 1 Vx 0 1 0 1 x 0 1 0 1 x
Example 1 Simulation
103 Quantum Portland Faces 104 Conclusion. What did we learn
(1) the more degrees of freedom the better the animation realism. Art and interesting behavior above certain threshold of complexity.
(2) synchronization of spoken text and head (especially jaw) movements are important but difficult. Each robot is very different.
(3) gestures and speech intonation of the head should be slightly exaggerated superrealism not realism.
105 Conclusion. What did we learn(cont)
(4) Noise of servos
the sound should be laud to cover noises coming from motors and gears and for a better theatrical effect.
noise of servos can be also reduced by appropriate animation and synchronization.
(5) TTS should be enhanced with some new sound-generating system. What
(6) best available ATR and TTS packages should be applied.
(7) OpenCV from Intel is excellent.
(8) use puppet theatre experiences. We need artists. The weakness of technology can become the strength of the art in hands of an artist.
106 Conclusion. What did we learn(cont)
(9) because of a too slow learning improved parameterized learning methods should be developed but also based on constructive induction.
(10) open question funny versus beautiful.
(11) either high quality voice recognition from headset or low quality in noisy room. YOU CANNOT HAVE BOTH WITH CURRENT ATR TOOLS.
(12) low reliability of the latex skins and this entire technology is an issue.
107 We won an award in PDXBOT 2004. We showed our robots to several audiences Robot shows are exciting Our Goal is to build toys for 21-st Century and in this process change the way how engineers are educated. International Intel Science Talent Competition and PDXBOT 2004 2005 108
Commercial Value of Robot Toys and Theatres
109 Robot Toy Market - Robosapiens toy poses in front of toy poses in front of toy poses in front of 110 Globalization
Globalization implies that images technologies and messages are everywhere but at the same time disconnected from a particular social structure or context. (Alain Touraine)
The need of a constantly expanding market for its products chases the bourgoise over the whole surface of the globe. It must nestle everywhere settle everywhere establish connections everywhere. (Marx Engels 1848)
111 India and China - whats different
They started at the same level of wealth and exports in 1980
China today exports 184 Bn vs 34 Bn for India
Chinas export industry employs today over 50 million people (vs 2 m s/w in 2008 and 20 m in the entire organized sector in India today!)
Chinas export industry consists of toys (gt 60 of the world market) bicycles (10 m to the US alone last year) and textiles (a vision of having a share of gt 50 of the world market by 2008)
112 Learning from Korea and Singapore
The importance of Learning
To manufacture efficiently
To open the door to foreign technology and investment
To have sufficient pride in ones own ability to open the door and go out and build ones own proprietary identity
To invest in fundamentals like Education
to have the right cultural prerequisites for catching up
To have pragmatism rule not ideology
1979 Started making microwaves
1980 First export order (foreign brand)
1983 OEM contracts with General Electric
1985 All GE microwaves made by Samsung
1987 All GE microwaves designed by Samsung
1990 The worlds largest microwave manufacturer - without its own brand
1990 Launch own brand outside Korea
Samsung microwaves 1 worldwide twelve factories in twelve countries (including India China and the US)
2003 the largest electronics company in the world
114 How did Samsung do it
By learning from GE and other buyers
By working very hard - 70 hour weeks 10 days holiday
By being very productive - 9 microwaves per person per day vs 4 at GE
By meeting every delivery on time even if it meant working 7-day weeks for six months
By developing new models so well that it got GE to stop developing their own
Fundamental question for humanoid robot builders
116 Should we build humanoid robots
Mans design versus robots design
The humanoid robot is versatile and adaptive it takes its form from a human a design well-verified by Nature.
Complete isomorphism of a humanoid robot with a human is very difficult to achieve (walking) and not even not entirely desired.
All what we need is to adapt the robot maximally to the needs of humans elderly disabled children entertainment.
Replicating human motor or sensor functionality are based on mechanistic methodologies
but adaptations and upgrades are possible for instance brain wave control or wheels
Is it immoral
117 Is it worthy to build humanoid robots
Can building a mechanistic digital synthetic version of man be anything less than a cheat when man is not mechanistic digital nor synthetic
If reference for the ultimate robot is man then there is little confusion about ones aim to replace man with a machine.
118 Man Machine
Main reason to build machines in our likeness is to facilitate their integration in our social space
Robot should do many things that we do like climbing stairs but not necessarily in the way we do it airplane and bird analogy.
Humanoid robots/social robots should make our life easier.
119 The Social Robot
developing a brain
Cognitive abilities as developed from classical AI to modern cognitive ideas (neural networks multi-agent systems genetic algorithms)
giving the brain a body
Physical embodiment as indicated by Brooks Bro86 Steels Ste94 etc.
a world of bodies
A Social Robot is
A physical entity embodied in a complex dynamic and social environment sufficiently empowered to behave in a manner conducive to its own goals and those of its community.
Social interaction involves an adaptation on both sides to rationalise each others actions and the interpretation of the others actions based on ones references
Projective Intelligence the observer ascribes a degree of intelligence to the system through their rationalisation of its actions
121 Anthropomorphism The Social Robot
Augment human-robot sociality
Understand and rationalize robot behavior
BUT - How does the robot not become trapped by behavioral expectations
REQUIRED A balance between anthropomorphic features and behaviors leading to the robots own identity
122 Finding the Balance
Behavior (afraid of the light)
Facial Action Coding System
Degrees of freedom
Communication (robot-like vs. human voice)
machine vs. human capabilities
123 Humanoid Robots Experiments and Research Tasks
Autonomous mobile robots
Emotion through motion
Qualitative and quantitative analysis to a wide audience through online web-based experiments
124 The perception learning tasks
Where is a face (Face detection)
Who is this person (Face recognition learning with supervisor persons name is given in the process.
Age and gender of the person.
Emotions expressed as facial gestures (smile eye movements etc)
Objects hold by the person
Lips reading for speech recognition.
125 The perception learning tasks
Who is this person (voice based speaker recognition learning with supervisor persons name is given in the process.)
Isolated words recognition for word spotting.
126 The behavior learning tasks
Facial and upper body gestures
Face/neck gesticulation for interactive dialog.
Face/neck gesticulation for theatre plays.
Face/neck gesticulation for singing/dancing.
Hand gestures and manipulation.
Hand gesticulation for interactive dialog.
Hand gesticulation for theatre plays.
Hand gesticulation for singing/dancing.
127 Learning the perception/behavior mappings
Tracking the human.
Full gesticulation as a response to human behavior in dialogs and dancing/singing.
Modification of semi-autonomous behaviors such as breathing eye blinking mechanical hand withdrawals speech acts as response to persons behaviors.
Playing games with humans.
Body contact with human such as safe gesticulation close to human and hand shaking.
128 What to emphasize in future work
We want to develop a general methodology for prototyping software/hardware systems for interactive robots that work in human environment.
129 Can we build the first complete robot theatre in the world Yes if we will have more students who really want to learn practical skills and not only to take classes for grades. Robotics I Robotics II individual projects RAS high school students. 130 Where are we going
This is an adventure we do not know where our research will lead us.
This is truly interdisciplinary project. We need artists and psychologists.
If this takes the social functions of a theatre it is a theatre.
Lessons from CAD and computer chess knowledge and search rather than super-intelligent logic mechanism.
Initial complexity of knowledge.
degeneration of robot soccer.
OMSI project and security
Laws about future robots can he sue me
Our goal build a working environment for
Verification of theories (bacteria foraging social dynamics Freud immunological robots)
Verification of technologies (FPGA clusters net in chip technologies and AMBRIC).
Many researchers will be able to base their own research on our environment. We provide the technical background for more advanced or artistic work.
When there will be
the first commercially successful robot theatre
the first humanoid social robot
132 Humanoid robots
1. Teachers and helpers
Teaching disabled children
Helpers for disabled adults
Helpers for old people
Helpers and companions for mentally disabled
133 Humanoid robots
Conversational toys for lonely girls and young woman
Human-like robots as pets.
Animal-like robots as pets.
Interactive theatres of little robots sold separately and collected to families.
134 Humanoid robots
3. Robot Theatres
Battle Bots (already commercial)
Robot theatres for children next generation of Chucky Cheese Pizza Theatres and Disney Worlds.
Avangarda theatres for Adults (Umatilla sex violence special effects like head separation interaction battle bots of new generation and large size robot theatres in the prerries).
Artistic robot theatres (none exist see Japanese Bunraku and Noh single robots Kissmet aquarium and new robots of Cynthia Breazeal from MIT).
135 Humanoid robots
4. Kiosks and receptionists
Toy-like and simplified (commercial products).
Realistic in view and size.
Mobile museum robots (commercial).
Wheeled humanoid robot of child-like size to be rented for exhibitions.
136 Humanoid robots
5. Top research robots
Hubo and KAIST
6. Commercial Robot kits.
Humanoids childlike and expensive. Pino.
137 Existing technologies for robot theatre
Mobile robots (battlebots Los Angeles group Carnegie Mellon Group)
Walking big humans with robotic featuresJapanese robots like trump playing Sony)
Walking big humans with human-like features (head only - Albert Hubo Small humans.
Body on wheels.
Head with neck and shoulders.
Head on wheels
138 New Robots
Nothing serious. Just stunts. There are dogs dolls faces that contort and are supposed to express emotion on a robot he said.
Mr Engelberger an American founded the worlds first company making industrial robots in 1961 and became a specialist manufacturer of robots for hospitals.
It was pointless expensive and unnecessary for Japan which today makes three-quarters of the worlds robots to tinker with trivial inventions like robotic house sitters that rang to say there was a burglary going on he said.
It made more sense to use the formidable amount of research that it had already done on personal robot technology to apply it to machines made for tasks that actually needed doing.
Such as robots that could be told by elderly or infirm people to fetch a book from a shelf or find the television remote or get a beer from the fridge.
Ive talked to visiting nurses who say that older people have to go to the bathroom more often and are embarrassed to say to somebody in the house Please take me to the bathroom again. But who cares how many times you ask a robot to take you to the bathroom
The future market for robots installed in the homes of elderly people was bigger than the luxury car market he said predicting that they would be leased out for US500 (673) per month.
Human care-givers cost 10 times that Mr Engelberger said and nursing homes were higher still.
I know that there are things that a robot cant do. Its not going to bathe you and its not going to dress you but it can be made to find the milk in the fridge he said.
What the US8 billion robotics industry needs is for engineers to design practical robots for personal care. So why isnt more work being done Mainly Mr Engelberger thinks its because everyone is immersed in needless research and companies are distracted by the uneconomic quest for the humanoid which he derides as toy making.
I say stop it all go for the whole damn schmeer Ive recently become an octogenarian and Id ask you please hurry up.
141 Albert Hubo
At an IT exhibition on the sidelines of the Asia-Pacific Economic Cooperation (APEC) summit in Busan a participant shakes hands with a humanoid robot named Albert Hubo which has the face of Albert Einstein on Monday.
The robot can walk and speak and expresses emotions by moving facial muscles
142 Albert Hubo meets President Bush Help me robo-Einstein youre my only hope 143 Fujitsus Enon is getting a job at the grocery store
Enon will be helping Aeon customers with everything from packing shopping bags and picking up groceries to find their way around the store.
This is the new HAL-5 or more specifically the Hybrid Assistive Limb. Bionic Suit.
Its developed as a walking aid for those who could use a bit of extra power such as the disabled or apparently farmers who must add bags of sodium to their basement water softeners.
145 Walking Actors Japan
1000 iXs Research Corp. robots at Tokyos International Robot Exhibition.
146 The Bandai BN-17 Swiffer bot
Bandai BN-17 robot anthropomorphized robot for cleaning.
It can also handle your email and act as a security system
147 SORA a receptionist robot The little bot sports a camera microphone and speaker for one way video conferencing with visitors who can interface with an included touchscreen for information and even scan a business card to show their identity to whoever is subjecting them to this robotic greeter. Once theyre all approved the robot can wave its arms at them and point out the directions to the office being displayed on the screen. 148 The WowWee Robosapien v2
The 230 second generation Robosapien v2 with remote from WowWee.
The Robosapien v2 can see hear touch and interact with you and his surroundings with a full range of fluid movement.
Seething with attitude his full-functioning arms with grippers allow him to pick-up and throw objects and then kung-fu your azz if you sass him.
He features 100s of functions including a low-level gastro-intestinal condition resulting in the occasional air-biscuit or belch to your childrens (and yours admit it) amusement.
Hes also fully programmable which means youll find hacks-a-plenty in the open-source community allowing you to extend his functionality.
149 Questions to students
Learn about new robot toys and other toys that can be used in our theatre or converted to useful robots or their components.
Explain the concept of mapping architecture for a robot. Mapping being a combinational functions and mapping based on Finite State Machines.
Explain the concept of Probabilistic Finite State Machine and how it can be used to control movements of a robot.
How to use finite state machines and probabilistic machines for dialog and speech generation
150 Questions to students
Explain Morita Theory and think if it can be generalized.
Our robots have speech recognition and vision. Some have also sonar infrared touch and other sensors. What kind of sensors you would like to add and how you would like to program them for your applications.
What is your concept of interactive robot toy that would extend the ideas of our Theatre.
Write a script-scenario of conversation with robot that can be in 3 emotional states. The robot is a receptionist in Electrical Engineering Department at PSU.
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