Peripersonal Space in the Humanoid Robot iCub

Developing behaviours for interaction with objects close to the body is a primary goal for any organism to survive in the world. Being able to develop such behaviours will be an essential feature in autonomous humanoid robots in order to improve their integration into human environments. Adaptable spatial abilities will make robots safer and improve their social skills, human-robot and robot-robot collaboration abilities. This work investigated how a humanoid robot can explore and create action-based representations of its peripersonal space, the region immediately surrounding the body where reaching is possible without location displacement. It presents three empirical studies based on peripersonal space findings from psychology, neuroscience and robotics. The experiments used a visual perception system based on active-vision and biologically inspired neural networks. The first study investigated the contribution of binocular vision in a reaching task. Results indicated the signal from vergence is a useful embodied depth estimation cue in the peripersonal space in humanoid robots. The second study explored the influence of morphology and postural experience on confidence levels in reaching assessment. Results showed that a decrease of confidence when assessing targets located farther from the body, possibly in accordance to errors in depth estimation from vergence for longer distances. Additionally, it was found that a proprioceptive arm-length signal extends the robot’s peripersonal space. The last experiment modelled development of the reaching skill by implementing motor synergies that progressively unlock degrees of freedom in the arm. The model was advantageous when compared to one that included no developmental stages. The contribution to knowledge of this work is extending the research on biologically-inspired methods for building robots, presenting new ways to further investigate the robotic properties involved in the dynamical adaptation to body and sensing characteristics, vision-based action, morphology and confidence levels in reaching assessment.CONACyT, Mexico (National Council of Science and Technology

Visual attention and perception in scene understanding for social robotics

Ph.DDOCTOR OF PHILOSOPH

Affective Computing

This book provides an overview of state of the art research in Affective Computing. It presents new ideas, original results and practical experiences in this increasingly important research field. The book consists of 23 chapters categorized into four sections. Since one of the most important means of human communication is facial expression, the first section of this book (Chapters 1 to 7) presents a research on synthesis and recognition of facial expressions. Given that we not only use the face but also body movements to express ourselves, in the second section (Chapters 8 to 11) we present a research on perception and generation of emotional expressions by using full-body motions. The third section of the book (Chapters 12 to 16) presents computational models on emotion, as well as findings from neuroscience research. In the last section of the book (Chapters 17 to 22) we present applications related to affective computing

Human-Robot Interaction architecture for interactive and lively social robots

Mención Internacional en el título de doctorLa sociedad está experimentando un proceso de envejecimiento que puede provocar un desequilibrio entre la población en edad de trabajar y aquella fuera del mercado de trabajo. Una de las soluciones a este problema que se están considerando hoy en día es la introducción de robots en multiples sectores, incluyendo el de servicios. Sin embargo, para que esto sea una solución viable, estos robots necesitan ser capaces de interactuar con personas de manera satisfactoria, entre otras habilidades. En el contexto de la aplicación de robots sociales al cuidado de mayores, esta tesis busca proporcionar a un robot social las habilidades necesarias para crear interacciones entre humanos y robots que sean naturales. En concreto, esta tesis se centra en tres problemas que deben ser solucionados: (i) el modelado de interacciones entre humanos y robots; (ii) equipar a un robot social con las capacidades expresivas necesarias para una comunicación satisfactoria; y (iii) darle al robot una apariencia vivaz. La solución al problema de modelado de diálogos presentada en esta tesis propone diseñar estos diálogos como una secuencia de elementos atómicos llamados Actos Comunicativos (CAs, por sus siglas en inglés). Se pueden parametrizar en tiempo de ejecución para completar diferentes objetivos comunicativos, y están equipados con mecanismos para manejar algunas de las imprecisiones que pueden aparecer durante interacciones. Estos CAs han sido identificados a partir de la combinación de dos dimensiones: iniciativa (si la tiene el robot o el usuario) e intención (si se pretende obtener o proporcionar información). Estos CAs pueden ser combinados siguiendo una estructura jerárquica para crear estructuras mas complejas que sean reutilizables. Esto simplifica el proceso para crear nuevas interacciones, permitiendo a los desarrolladores centrarse exclusivamente en diseñar el flujo del diálogo, sin tener que preocuparse de reimplementar otras funcionalidades que tienen que estar presentes en todas las interacciones (como el manejo de errores, por ejemplo). La expresividad del robot está basada en el uso de una librería de gestos, o expresiones, multimodales predefinidos, modelados como estructuras similares a máquinas de estados. El módulo que controla la expresividad recibe peticiones para realizar dichas expresiones, planifica su ejecución para evitar cualquier conflicto que pueda aparecer, las carga, y comprueba que su ejecución se complete sin problemas. El sistema es capaz también de generar estas expresiones en tiempo de ejecución a partir de una lista de acciones unimodales (como decir una frase, o mover una articulación). Una de las características más importantes de la arquitectura de expresividad propuesta es la integración de una serie de métodos de modulación que pueden ser usados para modificar los gestos del robot en tiempo de ejecución. Esto permite al robot adaptar estas expresiones en base a circunstancias particulares (aumentando al mismo tiempo la variabilidad de la expresividad del robot), y usar un número limitado de gestos para mostrar diferentes estados internos (como el estado emocional). Teniendo en cuenta que ser reconocido como un ser vivo es un requisito para poder participar en interacciones sociales, que un robot social muestre una apariencia de vivacidad es un factor clave en interacciones entre humanos y robots. Para ello, esta tesis propone dos soluciones. El primer método genera acciones a través de las diferentes interfaces del robot a intervalos. La frecuencia e intensidad de estas acciones están definidas en base a una señal que representa el pulso del robot. Dicha señal puede adaptarse al contexto de la interacción o al estado interno del robot. El segundo método enriquece las interacciones verbales entre el robot y el usuario prediciendo los gestos no verbales más apropiados en base al contenido del diálogo y a la intención comunicativa del robot. Un modelo basado en aprendizaje automático recibe la transcripción del mensaje verbal del robot, predice los gestos que deberían acompañarlo, y los sincroniza para que cada gesto empiece en el momento preciso. Este modelo se ha desarrollado usando una combinación de un encoder diseñado con una red neuronal Long-Short Term Memory, y un Conditional Random Field para predecir la secuencia de gestos que deben acompañar a la frase del robot. Todos los elementos presentados conforman el núcleo de una arquitectura de interacción humano-robot modular que ha sido integrada en múltiples plataformas, y probada bajo diferentes condiciones. El objetivo central de esta tesis es contribuir al área de interacción humano-robot con una nueva solución que es modular e independiente de la plataforma robótica, y que se centra en proporcionar a los desarrolladores las herramientas necesarias para desarrollar aplicaciones que requieran interacciones con personas.Society is experiencing a series of demographic changes that can result in an unbalance between the active working and non-working age populations. One of the solutions considered to mitigate this problem is the inclusion of robots in multiple sectors, including the service sector. But for this to be a viable solution, among other features, robots need to be able to interact with humans successfully. This thesis seeks to endow a social robot with the abilities required for a natural human-robot interactions. The main objective is to contribute to the body of knowledge on the area of Human-Robot Interaction with a new, platform-independent, modular approach that focuses on giving roboticists the tools required to develop applications that involve interactions with humans. In particular, this thesis focuses on three problems that need to be addressed: (i) modelling interactions between a robot and an user; (ii) endow the robot with the expressive capabilities required for a successful communication; and (iii) endow the robot with a lively appearance. The approach to dialogue modelling presented in this thesis proposes to model dialogues as a sequence of atomic interaction units, called Communicative Acts, or CAs. They can be parametrized in runtime to achieve different communicative goals, and are endowed with mechanisms oriented to solve some of the uncertainties related to interaction. Two dimensions have been used to identify the required CAs: initiative (the robot or the user), and intention (either retrieve information or to convey it). These basic CAs can be combined in a hierarchical manner to create more re-usable complex structures. This approach simplifies the creation of new interactions, by allowing developers to focus exclusively on designing the flow of the dialogue, without having to re-implement functionalities that are common to all dialogues (like error handling, for example). The expressiveness of the robot is based on the use of a library of predefined multimodal gestures, or expressions, modelled as state machines. The module managing the expressiveness receives requests for performing gestures, schedules their execution in order to avoid any possible conflict that might arise, loads them, and ensures that their execution goes without problems. The proposed approach is also able to generate expressions in runtime based on a list of unimodal actions (an utterance, the motion of a limb, etc...). One of the key features of the proposed expressiveness management approach is the integration of a series of modulation techniques that can be used to modify the robot’s expressions in runtime. This would allow the robot to adapt them to the particularities of a given situation (which would also increase the variability of the robot expressiveness), and to display different internal states with the same expressions. Considering that being recognized as a living being is a requirement for engaging in social encounters, the perception of a social robot as a living entity is a key requirement to foster human-robot interactions. In this dissertation, two approaches have been proposed. The first method generates actions for the different interfaces of the robot at certain intervals. The frequency and intensity of these actions are defined by a signal that represents the pulse of the robot, which can be adapted to the context of the interaction or the internal state of the robot. The second method enhances the robot’s utterance by predicting the appropriate non-verbal expressions that should accompany them, according to the content of the robot’s message, as well as its communicative intention. A deep learning model receives the transcription of the robot’s utterances, predicts which expressions should accompany it, and synchronizes them, so each gesture selected starts at the appropriate time. The model has been developed using a combination of a Long-Short Term Memory network-based encoder and a Conditional Random Field for generating a sequence of gestures that are combined with the robot’s utterance. All the elements presented above conform the core of a modular Human-Robot Interaction architecture that has been integrated in multiple platforms, and tested under different conditions.Programa de Doctorado en Ingeniería Eléctrica, Electrónica y Automática por la Universidad Carlos III de MadridPresidente: Fernando Torres Medina.- Secretario: Concepción Alicia Monje Micharet.- Vocal: Amirabdollahian Farshi

KEER2022

Avanttítol: KEER2022. DiversitiesDescripció del recurs: 25 juliol 202

Proceedings of the 10th international conference on disability, virtual reality and associated technologies (ICDVRAT 2014)

The proceedings of the conferenc

Reading Mutant Narratives : The Bodily Experientiality of Contemporary Ecological Science Fiction

Reading Mutant Narratives explores how narratives of environmental and personal transformation in contemporary ecological science fiction can develop more-than-human modes of embodied experience. More specifically, it attends to the conflicted yet potentially transformative experientiality of "mutant narratives". Mutant narratives are viewed as uneasy hybrids of human-centered and posthumanist science fiction that contain potential for ecological understanding. Drawing on narrative studies and empirical reading studies, the dissertation begins from the premise that in suitable conditions, reading fiction may give rise to experiential change. The study traces and describes experiential changes that take place while reading works of science fiction. The bodily, subjective and historical conditions of reading are considered alongside the generic contexts and narrative features of the fictional works studied. As exemplary cases of mutant narratives, the study foregrounds the work of three American science fiction authors known for their critiques of anthropocentrism and for their articulations of more-than-human ecologies: Greg Bear, Paolo Bacigalupi, and Jeff VanderMeer. While much of contemporary fiction naturalizes embodied experience and hides their own narrative strategies, mutant narratives have the potential to defamiliarize readers’ notions of bodies and environments while also estranging their embodied experience of reading fiction. As a theoretical contribution to science fiction studies, the study considers such a readerly dynamic in terms of "embodied estrangement". Building on theoretical and practical work done in both embodied cognitive and posthumanist approaches to literature, the study shows how engagements with fictional narratives can, for their part, shape readers’ habitual patterns of feeling and perception. These approaches are synthesized into a method of close reading, "performative enactivism", that helps to articulate bodily, environmental, and more-than-human aspects of readerly engagement. Attending to such experiential aspects integrates ecological science fiction more deeply into the contemporary experiential situation of living with radical environmental transformation.Reading Mutant Narratives keskittyy ekologista kriisiä käsitteleviin "mutanttikertomuksiin" ja niille tyypilliseen kokemuksellisuuteen. Mutanttikertomukset ovat tieteisfiktiivisiä kertomuksia, joissa ihmiskeskeiset ja posthumanistiset piirteet yhdistyvät ja antavat lukijalle mahdollisuuksia ekologiseen ymmärrykseen. Esimerkkeinä mutanttikertomuksista tutkimus nostaa esiin kolmen yhdysvaltalaisen tieteiskirjailijan, Greg Bearin, Paolo Bacigalupin ja Jeff VanderMeerin, teoksia. Nämä teokset asettavat ihmisen osaksi ekologisia, evolutiivisia ja teknologisia vuorovaikutussuhteita, joissa myös ihmisruumiit ja ruumiillinen kokemus muuttavat muotoaan. Väitöskirja tutkii siis, kuinka tieteisfiktiiviset kertomukset ympäristöllisestä ja kokemuksellisesta muutoksesta voivat kehittää ruumiillista kokemusta. Kertomuksentutkimukseen ja empiiriseen lukijatutkimukseen tukeutuen tutkimus lähtee oletuksesta, että sopivissa olosuhteissa kirjallisuuden lukeminen voi edesauttaa kokemuksellisia muutoksia. Tutkimus tarkastelee tieteisfiktion lukemista eletyn ruumiillisen kokemuksen tasolla. Lukukokemuksen analyysissa otetaan huomioon sekä lukijan ruumiillinen, subjektiivinen ja historiallinen tilanne että luettujen teosten kytkeytyminen romaanikerronnan ja tieteisfiktion lajityypin perinteisiin. Suuri osa nykykirjallisuudesta esittää ruumiillisen kokemuksen luonnollisena ja kätkee oman kerronnallisen vaikutusvaltansa, mutta mutanttikertomusten kerronnalliset keinot saattavat outouttaa lukijoiden ruumiillista kokemusta suhteessa sekä elettyyn ympäristöön että kirjallisuuteen itseensä. Tieteisfiktion tutkimuksen käsitteistöä uudistaen väitöskirja kutsuu tällaista lukemisen dynamiikkaa "ruumiilliseksi vieraannuttamiseksi". Lukukokemuksen analyysien avulla tutkimus esittää, kuinka kirjallisuuden lukeminen ohjaa osaltaan lukijoiden tunne- ja havaintotottumusten muotoutumista. Se tuo yhteen ruumiillis-kognitiivisia ja posthumanistisia lähestymistapoja kirjallisuudentutkimukseen ja muotoilee "performatiivis-enaktiivisen" lähilukemisen metodin, joka auttaa sanallistamaan lukukokemuksen ruumiillisia, ympäristöllisiä ja ei-inhimilliseen kurovia puolia. Ruumiillisen kokemuksellisuuden syventäminen tämän metodin avulla tuo ekologisen tieteisfiktion tiiviimmin osaksi globaalin ympäristömuutoksen kokemuksellista tilannetta

Proceedings of the 21st International Congress of Aesthetics, Possible Worlds of Contemporary Aesthetics Aesthetics Between History, Geography and Media

The Faculty of Architecture, University of Belgrade and the Society for Aesthetics of Architecture and Visual Arts of Serbia (DEAVUS) are proud to be able to organize the 21st ICA Congress on “Possible Worlds of Contemporary Aesthetics: Aesthetics Between History, Geography and Media”. We are proud to announce that we received over 500 submissions from 56 countries, which makes this Congress the greatest gathering of aestheticians in this region in the last 40 years. The ICA 2019 Belgrade aims to map out contemporary aesthetics practices in a vivid dialogue of aestheticians, philosophers, art theorists, architecture theorists, culture theorists, media theorists, artists, media entrepreneurs, architects, cultural activists and researchers in the fields of humanities and social sciences. More precisely, the goal is to map the possible worlds of contemporary aesthetics in Europe, Asia, North and South America, Africa and Australia. The idea is to show, interpret and map the unity and diverseness in aesthetic thought, expression, research, and philosophies on our shared planet. Our goal is to promote a dialogue concerning aesthetics in those parts of the world that have not been involved with the work of the International Association for Aesthetics to this day. Global dialogue, understanding and cooperation are what we aim to achieve. That said, the 21st ICA is the first Congress to highlight the aesthetic issues of marginalised regions that have not been fully involved in the work of the IAA. This will be accomplished, among others, via thematic round tables discussing contemporary aesthetics in East Africa and South America. Today, aesthetics is recognized as an important philosophical, theoretical and even scientific discipline that aims at interpreting the complexity of phenomena in our contemporary world. People rather talk about possible worlds or possible aesthetic regimes rather than a unique and consistent philosophical, scientific or theoretical discipline