PhD Document - Universidad de Las Palmas de Gran Canaria

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5.2.3 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 68 5.3 Audio-Visual Attention . . . . . . . . . . . . . . . . . . . . . . . . . . . . 71 5.3.1 Attention Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 72 5.3.2 Implementation and Experiments . . . . . . . . . . . . . . . . . . 74 5.4 Face Detection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 78 5.4.1 The ENCARA Face Detector . . . . . . . . . . . . . . . . . . . . . 78 5.4.2 Performance and Implementation . . . . . . . . . . . . . . . . . . 81 5.4.3 Use of Stereo Information and Shirt Elimination . . . . . . . . . . 82 5.5 Head Nod and Shake Detection . . . . . . . . . . . . . . . . . . . . . . . . 83 5.6 Memory and Forgetting . . . . . . . . . . . . . . . . . . . . . . . . . . . . 88 5.7 Owner Identification . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 94 5.8 Habituation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 96 6 Action 107 6.1 Facial Expression . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 107 6.1.1 Functional Model . . . . . . . . . . . . . . . . . . . . . . . . . . . 108 6.1.2 Transitions Between Expressions . . . . . . . . . . . . . . . . . . 109 6.1.3 Implementation . . . . . . . . . . . . . . . . . . . . . . . . . . . . 111 6.2 Neck . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 112 6.3 Voice Generation . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 114 6.3.1 Expressive Talk . . . . . . . . . . . . . . . . . . . . . . . . . . . . 116 6.3.2 Local Accent . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 118 7 Behaviour 121 7.1 Reflexes . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 121 7.2 Action Selection . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 122 7.2.1 Behaviour Networks . . . . . . . . . . . . . . . . . . . . . . . . . 123 7.2.2 ZagaZ . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 125 7.2.3 Implemented Behaviours . . . . . . . . . . . . . . . . . . . . . . . 126 7.3 Emotions . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 132 8 Evaluation and Discussion 137 8.1 Evaluating Social Robots, a Review . . . . . . . . . . . . . . . . . . . . . 138 8.2 Quantitative/Qualitative Measures . . . . . . . . . . . . . . . . . . . . . . 139
8.3 Interaction Examples . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 140 8.4 Interviews. What to Evaluate? . . . . . . . . . . . . . . . . . . . . . . . . 143 8.5 Questionnaire . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 147 8.6 Results and Discussion . . . . . . . . . . . . . . . . . . . . . . . . . . . . 148 9 Conclusions and Future Work 155 9.1 Conceptual Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . 156 9.2 Technical Contributions . . . . . . . . . . . . . . . . . . . . . . . . . . . . 157 9.3 Future work . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 160 A CASIMIRO’s Phrase File 165
Page 1: Departamento de Informática y Sist
Page 7: To my family and Gloria
Page 10 and 11: Gobierno de Canarias, Ministerio de
Page 15 and 16: List of Figures 1.1 Abilities vs. l
Page 17 and 18: 5.13 T means tracking and CS Candid
Page 19 and 20: List of Tables 1.1 The eight human
Page 21 and 22: Abstract A relatively new area for
Page 23 and 24: Publications This thesis is based o
Page 25 and 26: Chapter 1 Introduction "Man is by n
Page 27 and 28: CHAPTER 1. INTRODUCTION characteris
Page 29 and 30: CHAPTER 1. INTRODUCTION robots: ➔
Page 31 and 32: CHAPTER 1. INTRODUCTION respect to
Page 33 and 34: CHAPTER 1. INTRODUCTION attention,
Page 35 and 36: Chapter 2 The Case of Social Roboti
Page 37 and 38: CHAPTER 2. THE CASE OF SOCIAL ROBOT
Page 49 and 50: Chapter 3 Approach and Architecture
Page 51 and 52: CHAPTER 3. APPROACH AND ARCHITECTUR
Page 63 and 64:
CHAPTER 3. APPROACH AND ARCHITECTUR
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Chapter 4 Hardware Overview "Your f
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CHAPTER 4. HARDWARE OVERVIEW 4.1 Ha
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CHAPTER 4. HARDWARE OVERVIEW Figure
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CHAPTER 4. HARDWARE OVERVIEW Figure
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CHAPTER 4. HARDWARE OVERVIEW Each m
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Chapter 5 Perception "I’ve seen t
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CHAPTER 5. PERCEPTION Figure 5.1: T
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CHAPTER 5. PERCEPTION Figure 5.3: E
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CHAPTER 5. PERCEPTION we could dist
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CHAPTER 5. PERCEPTION themaximum is
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CHAPTER 5. PERCEPTION Figure 5.7: E
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CHAPTER 5. PERCEPTION Classify cues
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CHAPTER 5. PERCEPTION Figure 5.10:
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CHAPTER 5. PERCEPTION 5.3 Audio-Vis
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CHAPTER 5. PERCEPTION modules, inst
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CHAPTER 5. PERCEPTION each angle we
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CHAPTER 5. PERCEPTION hypothesis is
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CHAPTER 5. PERCEPTION M4.- Pattern
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CHAPTER 5. PERCEPTION nods and shak
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CHAPTER 5. PERCEPTION effect of thi
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CHAPTER 5. PERCEPTION effects of am
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CHAPTER 5. PERCEPTION image decreas
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CHAPTER 5. PERCEPTION with an incre
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CHAPTER 5. PERCEPTION However, we a
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CHAPTER 5. PERCEPTION where y0 is t
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CHAPTER 5. PERCEPTION be distinguis
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CHAPTER 5. PERCEPTION in the sense
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CHAPTER 5. PERCEPTION a) b) c) d) F
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CHAPTER 5. PERCEPTION the habituati
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Chapter 6 Action "CHRISTOF: We’ve
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CHAPTER 6. ACTION Expression: "Surp
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CHAPTER 6. ACTION 6.1.3 Implementat
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CHAPTER 6. ACTION Figure 6.3: Facia
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CHAPTER 6. ACTION c α error 0 o 0.
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CHAPTER 6. ACTION fear anger sorrow
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CHAPTER 6. ACTION However, we belie
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Chapter 7 Behaviour "A good name, l
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CHAPTER 7. BEHAVIOUR used defines t
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CHAPTER 7. BEHAVIOUR step environme
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CHAPTER 7. BEHAVIOUR Predicate Desc
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CHAPTER 7. BEHAVIOUR Action Descrip
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CHAPTER 7. BEHAVIOUR Name Action to
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CHAPTER 7. BEHAVIOUR ➔ Basic emot
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CHAPTER 7. BEHAVIOUR [Reilly, 1996]
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Chapter 8 Evaluation and Discussion
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CHAPTER 8. EVALUATION AND DISCUSSIO
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Chapter 9 Conclusions and Future Wo
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CHAPTER 9. CONCLUSIONS AND FUTURE W
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Appendix A CASIMIRO’s Phrase File
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APPENDIX A. CASIMIRO’S PHRASE FIL
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Bibliography [Adams et al., 2000] B
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BIBLIOGRAPHY [Bruce et al., 2001] A
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BIBLIOGRAPHY [Driscoll et al., 1998
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BIBLIOGRAPHY [Hernández et al., 20
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BIBLIOGRAPHY [Kjeldsen, 2001] R. Kj
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BIBLIOGRAPHY [Martin et al., 2000]
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BIBLIOGRAPHY [Oviatt, 2000] S. Ovia
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BIBLIOGRAPHY [Schulte et al., 1999]
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BIBLIOGRAPHY [Tyrrell, 1993] T. Tyr
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Index absolute pitch, 16 action sel
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INDEX proprioception, 39 prosopagno
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PhD Document - Universidad de Las Palmas de Gran Canaria

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