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The role of arousal in two-resource problem tasks for humanoid service robots
Cognition & Interaction Lab, University of Skövde, Sweden.
Cognition & Interaction Lab, University of Skövde, Sweden.
Freiburg Institute for Advanced Studies, University of Freiburg, Germany.
Istittuto Italiano di Tecnologia, Genoa, Italy.
2013 (English)In: IEEE RO-MAN 2013, IEEE , 2013, 62-69 p.Conference paper, Published paper (Refereed)
Abstract [en]

A computational architecture of emotion is presented which grounds a component of an appraisal cognitive model into the homeostatic processes of a humanoid robot. The focus of the present work entails a `grounding' of the arousal component of the Pleasure Arousal Dominance emotion space into the electrical energy processes of an iCub robot. Key variables and performance criteria for robotic energy autonomous behavior in interaction with human are discussed. We show that our bio-inspired affective architecture offers viable basic cycles in exemplar “two-resource problem” testbed scenarios for a real iCub robot. The expression of the robot's emotional state and its role for the efficient interaction in the proposed two-resource problem task is discussed and experimental designs are presented.

Place, publisher, year, edition, pages
IEEE , 2013. 62-69 p.
Series
IEEE RO-MAN Proceedings, ISSN 1944-9445
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-105950DOI: 10.1109/ROMAN.2013.6628532ISBN: 978-1-4799-0509-6 (print)OAI: oai:DiVA.org:liu-105950DiVA: diva2:712585
Conference
22nd IEEE International Symposium on Robot and Human Interactive Communication, 26-29 August 2013, Gyeongju, Korea
Available from: 2014-04-15 Created: 2014-04-15 Last updated: 2014-04-22Bibliographically approved
In thesis
1. Grounding Emotion Appraisal in Autonomous Humanoids
Open this publication in new window or tab >>Grounding Emotion Appraisal in Autonomous Humanoids
2014 (English)Licentiate thesis, comprehensive summary (Other academic)
Abstract [en]

The work presented in this dissertation investigates the problem for resource management of autonomous robots. Acting under the constraint of limited resources is a necessity for every robot which should perform tasks independent of human control. Some of the most important variables and performance criteria for adaptive behavior under resource constraints are discussed. Concepts like autonomy, self-sufficiency, energy dynamics, work utility, effort of action, and optimal task selection are defined and analyzed as the emphasis is on the resource balance in interaction with a human. The primary resource for every robot is its energy. In addition to the regulation of its “energy homeostasis”, a robot should perform its designer’s tasks with the required level of efficiency. A service robot residing in a human-centered environment should perform some social tasks like cleaning, helping elderly people or delivering goods. Maintaining a proper quality of work and, at the same time, not running out of energy represents a basic two-resource problem which was used as a test-bed scenario in the thesis. Safety is an important aspect of any human-robot interaction. Thus, a new three – resource problem (energy, work quality, safety) is presented and also used for the experimental investigations in the thesis.

The main contribution of the thesis is developing an affective cognitive architecture. The architecture uses top-down ethological models of action selection. The action selection mechanisms are nested into a model of human affect based on appraisal theory of emotion. The arousal component of the architecture is grounded into electrical energy processes in the robotic body and is modulating the effort of movement. The provided arousal mechanism has an important functional role for the adaptability of the robot in the proposed two- and three resource scenarios. These investigations are part of a more general goal of grounding highlevel emotion substrates - Pleasure Arousal Dominance emotion space in homeostatic processes in humanoid robots. The development of the architecture took inspiration from several computation architectures of emotion in robotics, which are analyzed in the thesis.

Sustainability of the basic cycles of the essential variables of a robotic system is chosen as a basic performance measure for validating the emotion components of the architecture and the grounding process. Several experiments are performed with two humanoid robots – iCub and NAO showing the role of task selection mechanism and arousal component of the architecture for the robot’s self-sufficiency and adaptability.

Place, publisher, year, edition, pages
Linköping: Linköping University Electronic Press, 2014. 36 p.
Series
Linköping Studies in Science and Technology. Thesis, ISSN 0280-7971 ; 1657
National Category
Computer and Information Science Engineering and Technology
Identifiers
urn:nbn:se:liu:diva-105344 (URN)10.3384/lic.diva-105344 (DOI)978-91-7519-336-6 (ISBN)
Presentation
2014-05-14, Alan Turing, hus E, Campus Valla, Linköpings universitet, Linköping, 13:15 (English)
Opponent
Supervisors
Funder
EU, FP7, Seventh Framework Programme, G.A. 235065
Available from: 2014-04-15 Created: 2014-03-18 Last updated: 2014-04-16Bibliographically approved

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Kiryazov, Kiril

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