Sociorobot World: A Guided Tour for All (Intelligent Systems, Control and Automation: Science and Engineering Book 1048)

This book makes a consolidated guided tour to the world of sociorobots (social or socialized robots). Sociorobots and assistive robots provide entertainment, assistance to the handicapped, companionship to the elderly, and health care to autistic children and people with dementia among others. The book provides, in a fluent educational way, all major concepts, architectures, and design methodologies. All types of sociorobots are examined, namely walking anthropomorphic, wheeled anthropomorphic, fixed-place anthropomorphic, and zoomorphic sociorobots. The book provides an outline of sociorobot intelligent control architectures, robot learning, and human robot interaction Preface 7 Contents 8 1 Background Concepts and Outline of the Book 12 Abstract 12 1.1 Introduction 12 1.2 Sociorobotics Terminology 13 1.3 Formal Definition of a Sociorobot 15 1.4 Historical Note 16 1.5 Intelligence and Autonomy 21 1.5.1 Intelligence 21 1.5.2 Autonomy 22 1.6 Locomotion 25 1.6.1 Anthropomorphic Robots 25 1.6.2 Zoomorphic Robots 28 1.6.3 Wheeled Mobile Robots 28 1.7 Book Outline 31 1.8 Summary 34 References 34 2 Intelligent Control System Architectures 36 Abstract 36 2.1 Introduction 36 2.2 Requirements for Sociorobot Design 37 2.3 Early Generic Behavior-Based Architectures: Subsumption and Motor Schemas Architectures 39 2.3.1 Subsumption Architecture 40 2.3.2 Motor Schemas Architecture 41 2.4 A Four-Layer Sociorobot Control Architecture 43 2.5 A Deliberative-Reactive Control Architecture 44 2.6 The SSS Hybrid Control Architecture 46 2.7 General Discussion of Sociorobot Control Architectures 48 2.8 Summary 49 References 50 3 Sociorobot Learning 51 Abstract 51 3.1 Intoduction 51 3.2 Machine Learning: Introductory Issues 52 3.3 Sociorobot Learning by Imitation 56 3.4 Combining Imitation with Non-imitation Learning 58 3.5 Sociorobot Active Learning 60 3.6 Summary 61 References 61 4 Human-Robot Social Interaction 63 Abstract 63 4.1 Introduction 63 4.2 General Classification of Human-Robot Interaction 64 4.3 Sociorobot HRI 66 4.4 Human-Robot Interfaces 68 4.4.1 General Issues 68 4.4.2 Visual-Based Human-Robot Interfaces 70 4.4.3 Audio-Based Human-Robot Interfaces 71 4.4.4 Sensor-Based Human-Robot Interfaces 72 4.4.5 Multimodal Human-Robot Interfaces 73 4.5 System Design and Evaluation Issues 74 4.5.1 Design Issues 74 4.5.2 Evaluation Issues 76 4.6 Summary 78 References 78 5 Walking Anthropomorphic Sociorobots 80 Abstract 80 5.1 Introduction 80 5.2 Heads and Faces 81 5.3 Asimo and HOAP-3 Robots 86 5.3.1 ASIMO Robot 86 5.3.2 HOAP-3 Robot 90 5.4 QRIO, NAO, and HRP-2 Robots 91 5.4.1 QRIO 91 5.4.2 Nao Robot 94 5.4.3 HRP-2 Robot 98 5.5 SAYA Gynoid and Albert HUBO Android 98 5.5.1 Saya 98 5.5.2 Albert HUBO 103 5.6 Summary 106 References 106 6 Wheeled Mobile Anthropomorphic Sociorobots 109 Abstract 109 6.1 Introduction 109 6.2 Physical Structure of WMAR 110 6.3 The ARMAR III Humanoid Robot 116 6.4 The Rollin Justin Humanoid Robot 118 6.5 Maggie and Robovie Sociorobots 119 6.5.1 Maggie 119 6.5.2 Robovie 121 6.6 CosmoBot, Bandit and PEARL Sociorobots 123 6.6.1 CosmoBot 123 6.6.2 Bandit 124 6.6.3 PEARL 126 6.7 Nexi, Mobiserv and PaPeRo Sociorobots 129 6.7.1 Nexi 129 6.7.2 Mobiserv 131 6.7.3 PaPeRo 133 6.7.4 Summary 137 References 138 7 Fixed Place Anthropomorphic Sociorobots 140 Abstract 140 7.1 Introduction 140 7.2 The Cog, Kismet and Leo Sociorobots 141 7.2.1 Cog 141 7.2.2 Kismet 142 7.2.3 Leo 146 7.3 The Nico, Barthoc and Simon Sociorobots 149 7.3.1 Nico 149 7.3.2 Barthoc 152 7.3.3 Simon 154 7.4 Kaspar and Robota Sociorobots 156 7.4.1 Kaspar 157 7.4.2 Robota 157 7.5 Summary 160 References 160 8 Zoomorphic Sociorobots 162 Abstract 162 8.1 Introduction 162 8.2 Aibo and ICat Sociorobots 163 8.2.1 Aibo 163 8.2.2 i-Cat 166 8.3 Paro and Pleo Sociorobots 169 8.3.1 Paro 169 8.3.2 Pleo 171 8.4 Teddy Bear, NeCoRo, and Probot Sociorobots 173 8.4.1 Teddy Bear 173 8.4.2 NeCoRo 175 8.4.3 Probo 176 8.5 Summary 179 References 180 9 Sociorobot Field Studies 181 Abstract 181 9.1 Introduction 181 9.2 Walking Humanoids 182 9.2.1 QRIO Study 182 9.2.2 NAO Study 185 9.3 Wheeled Humanoids 186 9.3.1 CosmoBot Study 186 9.3.2 Bandit Study 188 9.3.3 PEARL Study 190 9.4 Fixed-Place Humanoids 191 9.4.1 KASPAR Study 191 9.4.2 Robota Study 195 9.5 Zoomorphic Sociorobots 197 9.5.1 AIBO Study 197 9.5.2 Paro Study 200 9.5.3 Pleo Study 203 9.6 Summary 205 References 206 10 Complementary Sociorobot Issues 209 Abstract 209 10.1 Introduction 209 10.2 Sociorobot General Design Issues 210 10.3 Embodiment and Morphology 211 10.3.1 Embodiment 211 10.3.2 Morphology 211 10.4 Identification and Classification of Emotions 212 10.5 Sociorobot Human-Oriented Perception 214 10.5.1 Person Tracking 214 10.5.2 Face and Gesture Recognition 215 10.5.3 Speech Recognition 216 10.6 Design Patterns for Human-Sociorobot Interaction 217 10.7 Sociorobot Psychological and Ethological Aspects 219 10.8 Sociorobot Ethical Aspects 220 10.9 Summary 223 References 223 Index 226 Front Matter....Pages i-xii Background Concepts and Outline of the Book....Pages 1-24 Intelligent Control System Architectures....Pages 25-39 Sociorobot Learning....Pages 41-52 Human-Robot Social Interaction....Pages 53-69 Walking Anthropomorphic Sociorobots....Pages 71-99 Wheeled Mobile Anthropomorphic Sociorobots....Pages 101-131 Fixed Place Anthropomorphic Sociorobots....Pages 133-154 Zoomorphic Sociorobots....Pages 155-173 Sociorobot Field Studies....Pages 175-202 Complementary Sociorobot Issues....Pages 203-219 Back Matter....Pages 221-223