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rahe.populus.ch

West Switzerland Univ. of Appl. Sc., Yverdon-les-Bains

RH3-Y: LaRa andRH3-Y: LaRa and

LaRA - Laboratory for Robotics and AutomationJean-Daniel Dessimoz 10th July 2008

I, RH3-Y,I, RH3-Y,About EmotionsAbout Emotions

-Happy-Hello everybodyI am happy to be here

My name is R H 3 - Y-Blinking Eye-Just call me Harry.

And you see above the human members of my team.

-Neutral2-I shall tell you a few words about emotions, and expressions of emotions.

- in general, make from time to time during the presentation a motion of therobot, arm or hand…-

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China2

Content

Models for emotions

Images and icons

Other ways to express emotions 1

Other ways to express emotions 2

-Neutral2-There are various models for emotions

First, people think of facial expressions

But there are other ways to be expressive

Many other ways

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China3

Content

Models for emotions

Images and icons

Other ways to express emotions 1

Other ways to express emotions 2

(skip, turn a little towards screen and back towards public)

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China4

Models for emotions

Emotions Result from changes in perception and consequences Related to convergence/deviation between status and goals Lead to strategic changes

Experts suggest 2D or 3D emotional space Arousal: activity level (re. Energy, quantity of perceived information,

urgency and intensity of desired changes, of planned actions). Alwayspositive. Or zero.

Valence: happiness degree; can be negative (re. Also benefits and costs)

(Stance)

References: Goris 2008, Lim 2007, Garcia-Rojas 2006, Russel 2005 and 1997

-Neutral2-

Emotions seem to result from perceptions, and from their new consequences,on convergence or deviations between internal status and goals

Experts feel that 2 or 3 vectorial dimensions are sufficient to support emotions.

Mostly:1 - Arousal,

- tired – I look tired - 3 second - surprised – I look surprised - 3 second

and 2 - Valence - unhappy – I look unhappy - 3 second - happy - I am happy - 3 second

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China5

Models for emotions

Re. Kristof Goris

- neutral2 –

This is an exemple of eyelid closure as a function of emotions, in particulararousal.

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China6

Content

Models for emotions

Images and icons

Other ways to express emotions 1

Other ways to express emotions 2

(skip, turn a little towards screen and back towards public)

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China7

Images and icons

Priority is typically given to facial expression In physical space or images Icons are particularly expressive RH3-Y examples for classical emotions:

Other head and facial expressions:

re J.A. Russel

-Neutral2-

Emotions are often shown by the face.

In real, or in image.

Icons appear more expressive than human pictures

And some of my face and head expressions are shown here.

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China8

Content

Models for emotions

Images and icons

Other ways to express emotions 1

Other ways to express emotions 2

(skip, turn a little towards screen and back towards public)

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China9

Other ways to expressemotions 1

Classical ways to express robot status, perceptions,decisions and planned actions are used on our controlpanels

An extension is now possible, e.g. with a finger in front ofthe mouth instead of the green « Mute » panel, the headturning right, instead of « goal angle : -20 degrees», etc.

-Neutral2-

I traditionnally show my status, processes and intentions on various controlscreens

And I could now link these classical data with iconic parametrization

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China10

Content

Models for emotions

Images and icons

Other ways to express emotions 1

Other ways to express emotions 2

(skip, turn a little towards screen and back towards public)

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China11

Other ways to expressemotions 2

Instead of moving icons, as for turning head, it is betterto turn the robot which carries the display

More generally, robots can also express their emotions Blink lights (re. Flashing signal Out 1) Shout (re. RH2-Y barking in Atlanta) Move (dance?) Waive arm?

Those who know RH-Y also know its motor voice or howthe right wheel tends to lag behind when batteries runtired

-Neutral2 –

I can express my emotions in many other ways: blinking, barking, moving mybody and my arm.

And most naturally, those who know me also know whenmy motors are servoed and how my right wheeltends to lag behind, when my batteries run tired

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China12

Conclusion

This was a few words about emotions

Bye now!

-happy –

That’s all folks,

It was nice talking to you!

(waive arm and go)

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RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China13

Acknowledgements

Many colleagues, engineers and students/alumni ofiAi, as well as various network partners havecontributed to or inspired our current solutions.