PhD Document - Universidad de Las Palmas de Gran Canaria

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Springer-Verlag, PostECCV’02 Workshop on Biometric Authentication, Copenhagen, Denmark, June 2002. • "CASIMIRO: A Robot Head for Human-Computer Interaction", O. Déniz, M. Castril- lón, J. Lorenzo, C. Guerra, D. Hernández, M. Hernández. 11th IEEE International Workshop on Robot and Human Interactive Communication, pp. 319-324, Berlin, Germany, 25-27 September, 2002. • "A Computational Mechanism for Habituation in Perceptual User Interfaces", O. Déniz, J. Lorenzo and M. Hernández. Int. Conference on Computational Intelligence for Modelling, Vienna, Austria, February 12-14, 2003. • "Building a Sound Localization System for a Robot Head", O. Déniz, J. Cabrera and M. Hernández. Revista Iberoamericana de Inteligencia Artificial, 18 - Winter 2003. • "Multimodal Attention System for an Interactive Robot", O. Déniz, M. Castrillón, J. Lorenzo, M. Hernández and J. Méndez. Lectures Notes in Computer Science, vol. 2652. 1st Iberian Conference on Pattern Recognition and Image Analysis. 4-6 June 2003, Pto. Andratx, (Mallorca, Spain). • "Face Recognition using Independent Component Analysis and Support Vector Ma- chines", O. Déniz, M. Castrillón and M. Hernández. Pattern Recognition Letters, vol 24, issue 13, pp. 2153-2157, September 2003. • "BDIE: A BDI like architecture with emotional capabilities", D. J. Hernández, O. Déniz, J. Lorenzo and M. Hernández. AAAI Spring Symposium, 22-24 March 2004. • "A simple habituation mechanism for perceptual user interfaces", O. Déniz, J. Lorenzo and M. Hernández. Revista Iberoamericana de Inteligencia Artificial, vol. VIII, 33, pp. 7-16, 2004. • "Useful Computer Vision Techniques for Human-Robot Interaction", O. Déniz, A. Fal- cón, J. Méndez, M. Castrillón, ICIAR 2004, International Conference on Image Anal- ysis and Recognition, September 2004, Porto, Portugal. • "Expressive Robotic Face for Interaction", O. Déniz, L. Antón-Canalís, M. Castrillón, M. Hernández. VII Workshop de Agentes Físicos (WAF’06), April 2006, Las Palmas de Gran Canaria, Spain.
Chapter 1 Introduction "Man is by nature a social animal" Aristotle, Politics. In recent years there has been a surge of interest in a topic called social robotics. As used here, social robotics does not refer to groups of robots that cooperate and interact with each other. For a group of robots, communication is relatively simple from a technologi- cal point of view, they can use whatever complex binary protocol to "socialize" with their partners. Back in the 40’s [Holland, 1997] robotic tortoises already interacted in a "social" manner using headlamps attached to the robots and by means of phototaxis. This field of Artificial Intelligence evolved and produced concepts like "swarm" robots, "ant-like" robots, self-organization, etc. For us, the adjective social refers to humans. In principle, the implications of this are much wider than in the case of groups of robots. Although the distinction may be much fuzzier, social robotics aims at building robots that do not seem to have a specific task (like playing chess with a human) but to simply interact with people. Socializing with humans is definitely much harder, not least because robots and humans do not share a common language nor perceive the world (and each other) in the same way. Many researchers working on this topic use other names like human-robot interaction, perceptual interfaces or multimodal interfaces. However, as pointed out in [Fong et al., 2003] we have to distinguish between conventional human-robot interaction (such as that used in teleoperation scenarios or in friendly user interfaces) and socially interactive robots. In the latter, the common underlying assumption is that humans prefer to interact with robots in the same way that they interact with other people. 1
Page 1: Departamento de Informática y Sist
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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 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 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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