Portland%20Cyber%20Theatre

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Portland Cyber Theatre
Marek Perkowski
Part 1
Graduate Seminar, Friday, May 7, 2004
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Portland Cyber Theatre
Funded by Korea Institute of Science and
Technology, Daejeon, Republic of Korea and Intel
Corporation, Hillsboro
Contributors
Martin Lukac, Jacob Biamonte, Stefan Gebauer,
Robert Klug, Myron Machado, Normen Giesecke,
Atsumu Iseno, Tsutomu Sasao, Michele
Folgheraiter, Uland Wong, Mikhail Pivtoraiko,
Jeff Morris, Chris Motch, Nicola Sian Rees, Ping
Hang Cheung, Randall Borck, Ray Schmelzer, Steve
Mbah,Yu Xia, Akashdeep Aulakh, Tyler Nguyen, Jeff
Allen, Kevin Xue, Kevin Chen, Ben Xue
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Or more scientifically
A robot with many bodies, many personalities,
quantum, fuzzy and logic brains or how to Use of
Machine Learning based on Constructive Induction
in Dialogs with Robotic Heads
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Talking Robots

• Many talking toys exist, but they are still very
  primitive
• Actors for robot theatre, agents for
  advertisement, education and entertainment.
• Designing inexpensive natural size humanoid
  caricature and realistic robot heads

Dog.com from Japan
We concentrate on Machine Learning techniques
used to teach robots behaviors, natural language
dialogs and facial gestures.
Work in progress
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Robot with a Personality?

• Future robots will interact closely with
  non-sophisticated users, children and elderly, so
  the question arises, how they should look like?
• If human face for a robot, then what kind of a
  face?
• Handsome or average, realistic or simplified,
  normal size or enlarged?

• The famous example of a robot head
• is Kismet from MIT.

• Why is Kismet so successful?
• We believe that a robot that will interact with
  humans should have some kind of personality and
  Kismet so far is the only robot with
  personality.

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Professor Perky the robot built by us in Japan
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A robot of Martin Lukac Cynthi-A sings
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Robot face should be friendly and funny

• The Muppets of Jim Henson are hard to match
  examples of puppet artistry and animation
  perfection.

• We are interested in robots personality as
  expressed by its
• behavior,
• facial gestures,
• emotions,
• learned speech patterns.

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Behavior, Dialog and Learning
Words communicate only about 35 of the
information transmitted from a sender to a
receiver in a human-to-human communication. The
remaining information is included in
para-language. Emotions, thoughts, decision and
intentions of a speaker can be recognized earlier
than they are verbalized.

• Robot activity as a mapping of the sensed
  environment and internal states to behaviors and
  new internal states (emotions, energy levels,
  etc).
• Our goal is to uniformly integrate verbal and
  non-verbal robot behaviors.

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Robot Head Construction
Furby head with new control
Jonas
We animate various kinds of humanoid heads with
from 4 to 20 DOF, looking for comical and
entertaining values.
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Robot Head Construction
Skeleton
Alien
We use inexpensive servos from Hitec and Futaba,
plastic, playwood and aluminum. The robots are
either PC-interfaced, use simple
micro-controllers such as Basic Stamp, or are
radio controlled from a PC or by the user.
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Technical Construction Details
Marvin the Crazy Robot
Adam
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Max

• BUG (Big Ugly Robot)

Image processing and pattern recognition uses
software developed at PSU, CMU and Intel (public
domain software available on WWW). Software is
in Visual C, Visual Basic, Lisp and Prolog.
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Visual Feedback and Learning based on
Constructive Induction
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• Mister Butcher

Latex skin from Hollywood
4 degree of freedom neck
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• Virginia Woolf

heads equipped with microphones, USB cameras,
sonars and CDS light sensors
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Professor Perky
Professor Perky with automated speech recognition
(ASR) and text-to-speech (TTS) capabilities

• We compared several commercial speech systems
  from Microsoft, Sensory and Fonix.
• Based on experiences in highly noisy environments
  and with a variety of speakers, we selected Fonix
  for both ASR and TTS for Professor Perky and
  Maria robots.
• We use microphone array from Andrea
  Electronics.

1 dollar latex skin from China
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Maria
20 DOF
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Construction details of Maria
location of head servos
skull
location of controlling rods
location of remote servos
Custom designed skin
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Animation of eyes and eyelids
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Frown of eyes and eyelids
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Smile and Jaw Action
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High School students help us to build robot heads
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The newest robot of Jake Biamonte and Jeff Allen
has many sensors on the face
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The back of the new robot head
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The hands do not move. The new, movelable hands
are under design by Michele Folgheraiter, our
collaborator from Italy.
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The new robot is mobile.

• The new robot is controlled by a micro-controlled
  and a laptop. It will move randomly and talk
  about PSU greatness. See demo soon.

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• Laptop and its screen

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I am friendly and beautiful
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I can turn my body left and right towards the
speaker or away from him
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New neck mechanism constructed by Jake and two
Jeffs.
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New neck mechanism constructed by Jake and two
Jeffs.
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Hahoe Robots

• On a grant from Korea Institute of Advanced
  Studies we are building a theatre of traditional
  korean masks

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Hahoe Robots
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Hahoe Robots
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The Hahoe Theatre has 12 robots, automatically
controlled stage, lights and smoke generators.
Help needed to design more heads and program
scripts.
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• The Hahoe robots will sing and dance.
• A long neck and springs.

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Mechanisms of Braitenbergs Vehicles for Quantum
vehicles explained next
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Please wait for change of slides file to Part 2