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The role of arousal in embodying the cueXdeficit model in multi-resource human robot interaction
Cognition & Interaction Lab, University of Skövde, Sweden.
Cognition & Interaction Lab, University of Skövde, Sweden.
2013 (English)In: Advances in Artificial Life, ECAL 2013, Proceedings of the Twelfth European Conference on the Synthesis and Simulation of Living System / [ed] Pietro Liò, Orazio Miglino, Giuseppe Nicosia, Stefano Nolfi and Mario Pavone, 2013, 19-26 p.Conference paper, Published paper (Refereed)
Abstract [en]

In this paper is investigated the problem of managing limited resources in human-robot interaction with a computational architecture of emotion. The architecture is based on the appraisal theory of affect and an ethological motivational model of task selection. Key variables and performance criteria for robotic energy autonomous behaviour in interaction with humans are discussed. The role of arousal for modulating effort of movement is explored. It is shown that the architecture can manage task selection and the effort of the movement and offers sustainable basic-cycles in exemplar "two-resource problem" test-bed scenarios for an iCub robot. An extension of the architecture with a third "resource"—safety—is presented and how the architecture is able to solve the new "three-resource" problem is demonstrated.

Place, publisher, year, edition, pages
2013. 19-26 p.
National Category
Engineering and Technology
Identifiers
URN: urn:nbn:se:liu:diva-105952DOI: 10.7551/978-0-262-31709-2-ch004OAI: oai:DiVA.org:liu-105952DiVA: diva2:712586
Conference
Twelfth European Conference on the Synthesis and Simulation of Living System, 2-6 September 2013, Tarmina, Italy
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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