TESIS DOCTORAL - Robotics Lab - Universidad Carlos III de Madrid

162 Chapter 7. Implementing the decision making system16 17 1819 20 21 #emit$COMPLIMENTED22 en:uuuii great! I really like it23 24 #emit$OFFENDED25 en:you are not very polite26 27 28 2930 31 en: you just ignore me32 #emit$IGNORED33 3435 36 37 Several examples of possible Dialogs are presented in Figure 7.18. Figure 7.18(a)shows how a user offends Maggie. The next figure, Figure 7.18(b), displays the messagesbetween the robot and the user and how he says a compliment to Maggie. In the lastexample, Figure 7.18(c), the users ignores Maggie and he does not say a word.Stroking or beating the robotIn addition, apart from verbal interaction, the Interact skill evaluates the tactile communication.In order to achieve it, the sensitive “skin” of the robot is used. The capacitor sensorsspread around the surface of the robot are read to determine where and how the robot isbeing touched.In this skill, two kinds of tactile interactions are distinguished: strokes and hits. The firstone is identified when the user strokes the robot’s head. In contrast, when the robot’s bothshoulders are touched, it is considered as a hit. In short, this process is depicted in Figure7.19. Every time a touch is detected on the surface of the robot, this is communicated to therest of the architecture by the Tactile Sensor skill which emits the TOUCHED event. When