Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1

Lus Paulo Reis

lpreisdsi!umin"o!pt
#ember o$ t"e %ire&ti'e (oard o$ LI)CC * )rti$i&ial Intelligen&e and Computer +&ien&e Lab!
)sso&iate Pro$essor at +&"ool o$ ,ngineering- .ni'ersity o$ #in"o- Portugal
President o$ t"e Portuguese +o&iety $or Roboti&s
Key Issues and New Trends in
Human-Robot Intelligent
Cooperation
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /
Presentation 0utline
)rti$i&ial Intelligen&e- Roboti&s and +imulation
1C Portugal Pro2e&t and Teams $or Roboti& +o&&er
Intellw"eels Pro2e&t * Intelligent 3"eel&"air wit"
#ultimodal Inter$a&e
Hearbot Pro2e&t * Robot %an&ing4)udition
Con&lusions and 1uture 3or5
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7
)rti$i&ial Intelligen&e
Intelligen&e
Capa&ity to solve new problems through the
use of knowledge
)rti$i&ial Intelligen&e
Science concerned with building intelligent ma&"ines,
that is, machines that perform tasks that when performed
by humans require intelligence
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8
)utonomous )gents and #ulti-)gent +ystems
)gent:
Computational System, situated in a
given en'ironment, that has the ability
to per&ei'e that environment using
sensors and a&t, in an autonomous
way, in that environment using its
a&tuators to fulfill a given $un&tion.
#ulti-)gent +ystem:
Agents ehibit autonomous
be"a'ior
Intera&t with other agents in the
system
?
agent
percepts
sensors
actions
effectors
environment
Russel and Norvig, AI: A Modern Approach, 1995
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9
Intelligent Roboti&s
Roboti&s
Science and technology for pro!ecting, building,
programming and using "obots
Study of Roboti& )gents :wit" body;
#ncreased Compleity$
,n'ironments: %ynamic, #naccessible, Continuous and &on
%eterministic'
(erception$ )ision, +ensor 1usion
Action$ "obot Control *humanoids, increasing %+,s-
"obot Architecture *(hysical . Control-
&avigation in unknown environments
Intera&tion with other robots.humans
/ulti0"obot Systems
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <
Current +tate o$ Roboti&s
.sed to Per$orm:
%angerous or difficult tas5s to be performed directly by humans
Repetiti'e tas5s that may be performed more efficiently *or cheap- than
when performed by humans
Robots "a'e mo'ed $rom manu$a&turing- industrial appli&ations to:
%omesti& robots *(ets 1 A#2+, vacuum cleaners-
,ntertainment robots *social robots-
/edical and personal ser'i&e robots
#ilitary and surveillance robots
,du&ational robots
#ntelligent buildings
Intelligent 'e"i&les *cars, submarines, airplanes-
&ew industrial applications *mining, fishing, agriculture-
3a4ardous applications *space eploration, military apps,
toic cleanup, construction, underwater apps-
#ulti-Robot )ppli&ations and Human-Robot Teams=
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >
Current +tate o$ Roboti&s
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?
Coordination in #ulti-Robot +ystems
Agents."obots don5t live alone and have
to work in a group6
Human-Robot Intera&tion
#ulti-Robot Coordination
Coordination : @to wor5 in "armony in a groupA
%ependen&ies in agent actions
7lobal constraints
No agent, individually "as enoug" resour&es,
information or capacity to eecute the task
or solve the problem
,$$i&ien&y: #nformation echange or tasks division
Pre'ent anar&"y and &"aos$ (artial vision, lack of authority,
conflicts, agent5s interactions
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation B
)gent-(ased +imulation
+imulation: Imitation o$ some real t"ing- state o$ a$$airs- or pro&ess-
o'er time- representing certain 5ey &"ara&teristi&s or behaviours of
the physical or abstract system
Applications$
8nderstand system
$un&tioning
Per$orman&e optimiCation
9esting and validation
%e&ision ma5ing
9raining and education
Test $uture4eDpensi'e systems
,or comple systems impossible to solve mathematically
)gent (ased #odeling and +imulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1E
Roboti& Competitions
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 11
Roboti& Competitions - RoboFames
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1/
Roboti& Competitions - RoboFames
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 17
Roboti& Competitions
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
2enefits
"esearch inspiration
3ard deadline for creating fully functional system
Common platform.problem
:change of research ideas.solutions
Continually improving solutions
:citement for students.researchers at all levels
;arge number of teams.solutions created
:ncouragement for fleible software.hardware
%angers
+bsession with winning
%omain dependent. hacked solutions
Cost escalation
%ifficulty in entering at competitive level
"estrictive rules
#nvalid evaluation conclusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 18
Roboti& Competitions - RoboCup
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
"oboCup
"eal, Standard, Simulated "obots
/ini, Small, /edium and ;arge "obots
<heeled, ;egged and 3umanoid "obots
%istinct but interrelated ;eagues.(roblems
+nly a ,ew "esearch 7roups able to develop
code that works in more than one league'
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 19
#ain Resear&" Guestions
3ow to Coordinate heterogeneous
#ulti-Robot Teams eecuting $leDible tas5s in
dynamic, adversarial environments=
3ow to define 1leDible Human-Robot
Intera&tion methods enabling 3uman0"obot
Cooperation in dynamic environments=
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1<
Key Issues in Human-Robot Teams
Sensor ,usion and /ulti0Sensor #ntelligent
(erception
#ulti-Robot Coordination.,leible Strategy
Adaptive Strategy
1leDible #ultimodal Intera&tion
Human Robot Cooperation
Adaptive #nteraction
Realisti& +imulation
2ridging the 7ap between Simulation and "obotics
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1>
RoboCup: 0b2e&ti'es
>oint #nternational (ro!ect$
:%istributed; )rti$i&ial Intelligen&e
Intelligent Roboti&s
+o&&er 1 Central "esearch 9opic$
Hery &ompleD &olle&ti'e game
Huge amount o$ te&"nologies involved$
Autonomous Agents, /ulti0Agent4#ulti-Robot +ystems, Cooperation,
Communi&ation, +trategi& Reasoning, "obotics, Sensor ,usion, "eal09ime
"easoning, /achine ;earning, etc
/ain 7oal$
By 2050, develop a team of fully autonomous humanoid robots that
may win against the human world champion team in soccer!
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1?
RoboCup: 0$$i&ial Competitions
?@@A 1 &agoya *>apan-
?@@B 1 (aris *,rance-
?@@@ 1 Stockholm *Sweden-
CDDD 1 /elbourne *Australia-
CDD? 1 Seattle *8SA-
CDDC 1 ,ukuoka *>apan-
CDDE 1 (adua *#taly-
/EE8 * Lisbon :Portugal-
CDDF 1 +saka *>apan-
/EE< * (remen :Fermany;
CDDA 1 Atlanta *8SA-
/EE? * +uCu"u :C"ina;
CDD@ 1 7ra4 *Austria-
CD?D 1 Singapore *Singapore-
CD?? 1 #stanbul *9urkey-
CD?C 1 /eico City */eico-
CD?E 1 :indhoven *3olland-
/E18 * IoJo Pessoa :(raCil;
Lo&al C"ampions"ips:
7erman +pen *:uropean-, >apanese +pen, Australian
+pen, American +pen, Portuguese 0pen, %utch +pen,
#ranian +pen, China +pen, ;A"S.S2"6
Parti&ipant4)warded Countries:
7ermany, 8SA, >apan, China, #ran, Portugal- 2ra4il,
Australia, 3olland, Singapore
Soccer ;eagues
+imulation: +im/%- +im7% :Humanoids;- Coa&"- #R
Robots +mall-+iCe
Robots #iddle-+iCe
+tandard Plat$orm*)iboG N)0-
3umanoid "obots *Hid, Adult-
"oboCup "escue
+imulation, )irtual, "obotic
"oboCup >unior
RoboCupHome
"oboCupI<ork
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 1B
1esti'al Na&ional de RobKti&a - Portugal
,spin"o :near Porto; 19-1? #ay- /E18- Portugal
B Competitions- 1EE Teams- <EE parti&ipants $rom1E &ountries
1esti'al L I,,, IC)R+C * Int! Con$! )ut! Robot +yst! and Competitions
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /E
Hirtual Robots on a ?DFJKBm )irtual ,ield
9eams of ?? players plus a coach
C% SimulatorL/onitor *Client0Server System-
"obots controlled by different agents
Agents *player5s brains- control a single player
+imulator.Server$
Re&ei'es agent &ommands
+imulates ob!ects5 mo'ement
+ends per&eptions to agents
+imulation C"ara&teristi&s
Real-Time 0 3uman
%istributed 1 CM (rocesses
Ina&&essible *hidden-, Continuous and %ynamic <orld
,rrors in$ (erception, /ovement and Action
Limited Resour&es and Communication
#ulti-0b2e&ti'e
Server Architecture
RoboCup Leagues: +imulation /%
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /1
1BB>: League +tart -M +imple Play
RoboCup Leagues: +imulation /%
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation //
1BB?: +imple Passing and Food Indi'idual s5ills
RoboCup Leagues: +imulation /%
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /7
/EEE: 1ormations and +o&&er li5e Playing
RoboCup Leagues: +imulation /%
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /8
+imulation 7% League :Humanoids;
9hird dimension and compleities
from real robots
Realisti& p"ysi&s and Robot #odel:
Spheres in CDDM
3umanoids in CDDA
&A+ "obot /odel$ CDDB
3eterogeneous "obots$ CD?E
+trong relation wit" +PL
C vs C 0N K vs K 0N @ vs @ 0N ?? vs ??
Server.Simulator *+im+par5-
8pdates world state
,orces the laws o$ p"ysi&s$ collisions, drag, gravity, ...
Send sensor information *per&eptors-
:ecutes actions *e$$e&tors-
:nforces soccer rules 1 referee
Hery di$$i&ult to &reate &ompetiti'e s5ills by "and=
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /9
+imulation 7% * +p"eres model
CDDM0CDDF$ )ery 2asic playing'
CDDK$ ,ormations.3igh0level playing'
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /<
+imulation 7% * Humanoid model
CDDA0CD?D$ )ery 2asic playing'
CD??$ ,ormations.3igh0level playing'
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation />
+imulation 7% * Nao model
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Same "obot but completely different skills$ <alk, getup, kick
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /?
+imulation 7% * Nao model
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation /B
#iddle +iCe League
"obots are completely autonomous
F robots per team
"obots around FDFDcm and BDcm height
,ield ?Bm?Cm, green with white lines
/S; rules based on official ,#,A laws
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7E
#iddle +iCe League
?@@B0CDDA$ )ery 2asic playing' #ndividual %ribbling'
CDDB$ ,ormations S2S(.3igh0level playing.Setplays'
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 71
1leDible +trategy $or RoboCup
RoboCup Leagues: +imulation /%- +imulation 7%- +mall-+iCe- #iddle-
+iCe- +PL and +ear&" and Res&ue
)ppli&ations in $our distin&t teams:
1C Portugal *8niversity of (orto.Aveiro./inho-
Simulation C%, Simulation E%, Coach, /", "escue, S(;
C)#()%) *8niversity of Aveiro- 1 (rof. &uno ;au
/iddle0Si4e ;eague, "oboCupI3ome
9%P0 *8niversity of (orto- 1 (rof. A.(./oreira
Small0Si4e ;eague, /iddle0Si4e ;eague
Portuguese Team *8niversity of (orto.Aveiro./inho-
S(; 1 Standard (latform ;eague
#ore t"an 8E awards in International Competitions $or t"ese 8 Teams=
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7/
0ur Teams: .ni'ersity o$ Porto4)'eiro
+imulation /%: 1C Portugal
2est$ <inners "oboCup CDDD,
<inners :uro CDDD, :uro CDD?
Scientific Award CD?E
+imulation 7%: 1C Portugal
2est$ <inner "oboCup CDDK,
<inners :uro CDDK, :uro CDDA
Scientific Award CD?E
+imulation * Coa&": 1C Portugal
2est$ <inner "oboCup CDDC,
C
nd
"oboCup CDDE, CDDM
+imulation * #R League: 1C Portugal
2est$ C
nd
"oboCup CDDA
Res&ue +imulation: 1C Portugal
2est$ <inner :uro CDDK
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 77
#iddle-+iCe: C)#()%) :.ni'!)'eiro;
2est$ <inners "oboCup CDDB
9echnical and Scientific Awards *CD??, CD?E-
+mall-+iCe: 9%P0 :.ni'!Porto;
2est$ C
nd
"oboCup CDDK,
<inners :uro CDD?, CDDK, CDDA
#iddle-+iCe: 9%P0 :.ni'!Porto;
2est$ E
rd
:uro CDD?
+tandard Plat$orm *)ibo;$ 1C Portugal41C Portus
2est$ F
th
"oboCup CDDE
+tandard Plat$orm *N)0;: Portuguese Team
2est$ @
th
"oboCup CD?C
0ur Teams: .ni'ersity o$ Porto4)'eiro
)I and Roboti&s6 RoboCup and 0ur Teams6 1leDible +trategy $or Roboti& Teams6 )ppli&ations and Pro2e&ts6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 78
Coordinate autonomous robots decisions to carry
out team tasks as efficiently as possible
Coordination challenges
Strategy
Coaching
"ole assignment
,ormation
(lan eecution
Communication
T"e Coordination Problem
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 79
1ormaliCation o$ a Team +trategy
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7<
1ormations: +(+P 's +P)R and %PR,
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7>
+(+P wit" %elaunay Triangulation
2ased on Akiyama, CDDA
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7?
+(+P wit" %elaunay Triangulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 7B
+(+P wit" %elaunay Triangulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8E
+(+P wit" %elaunay Triangulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 81
+(+P wit" %elaunay Triangulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8/
+(+P wit" %elaunay Triangulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 87
+(+P wit" %elaunay Triangulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 88
+(+P wit" %elaunay Triangulation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 89
1ormations in t"e #+L
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8<
+etplay ,Dample :+im/%;
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
+imple- pre-de$ined but $leDible plans- w"i&" des&ribe
&ooperation and &oordination between agents4robots
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8>
+etplay %e$inition
(setplay :name simpleCorner
:players (list (playerRole :roleName CornerP)
(playerRole :roleName receiver) (playerRole :roleName shooter))
:steps (seq (step :id 0 :waitTime 15 :abortTime 70
:participants
(list (at CornerP (pt :x 52 :y 34))
(at receiver (pt :x 40 :y 25)) (at shooter (pt :x 36 :y 2)))
:condition (playm fk_our)
:leadPlayer CornerP
:transitions (list
(nextStep :id 1:condition (canPassPl :from CornerP :to receiver)
:directives (list
(do :players CornerP :actions (bto :players receiver))
(do :players receiver :actions (receivePass))))))
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8?
+etplay %e$inition
(step :id 1 :waitTime 5 :abortTime 70
:participants (list (at CornerP (pt :x 52 :y 34)) (at receiver (pt :x 40 :y 25))
(at shooter (pt :x 36 :y 2)) )
:condition (and (bowner :players receiver) (playm play_on)) :leadPlayer receiver
:transitions (list
(nextStep :id 2
:condition (canPassPl :from receiver :to shooter)
:directives (list
(do :players receiver :actions (bto :players shooter))
(do :players shooter :actions (receivePass))))))
(step :id 2 :abortTime 70
:participants (list (at CornerP (pt :x 52 :y 34)) (at receiver (pt :x 40 :y 25)) (at
shooter (pt :x 36 :y 2)) )
:condition (and (bowner :players shooter) (playm play_on) )
:leadPlayer shooter :transitions (list
(nextStep :id 3 :condition (canShoot :players shooter)
:directives (list
(do :players shooter :actions (shoot))))))
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 8B
+etplays: Frap"i&al %e$inition
,C(ortugal
%ebug ;og(layer
"CSS/onitor
?M.D.?
"CSS;og(layer
included on
S(lanner
S(lanner
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framewor-
Import
,Dport
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9E
FD.CE
+etplays: Frap"i&al %e$inition
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 91
+etPlays in t"e #+L
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9/
Feneri& 0ptimiCation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 97
Results * /E m Ki&5===
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 98
Results * /E m Ki&5===
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 99
Results * 1ormation and Ki&5
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9<
Results * /E m Ki&5===
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9>
+ele&ted Results: 1C Portugal
Competition Results: 1CPortugal
CDDD ?st place in the C% Simulation ;eague, :uropean CDDD
1st pla&e in the /% +imulation League, RoboCup /EEE
CDD? Erd place in the C% Simulation ;eague, "oboCup CDD?
?st place in the C% Simulation ;eague, :uropean *7+- CDD?
CDDC 1st pla&e in the Coa&" Competition, RoboCup /EE/
CDDE Cnd place in the Coach Competition, "oboCup CDDE
CDDM Cnd place in the Coach Competition, "oboCup CDDM
CDDK 1st pla&e in the 7% +imulation League, RoboCup /EE<
Cnd place in the Small0Si4e ;eague, "oboCup CDDK
?st place in the E% Simulation ;eague, :uropean CDDK
1st pla&e in the Res&ue +imLeague, ,uropean /EE<
Cnd place in the C% Simulation ;eague, :uropean CDDK
CDDA 1st pla&e in the 7% +imulation League, ,uropean /EE>
Cnd place in the C% Simulation ;eague, :uropean CDDA
/nd pla&e in the P"ysi&al Hisual! League, RoboCup /EE>
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9?
+ele&ted Results: 1C Portugal
Competition Results: 1C Portugal
CDD@ Erd place in the E% Simulation ;eague, :uropean CDD@
Erd place in the C% Simulation ;eague, :uropean CDD@
CD?D E
rd
place in the E% Simulation ;eague, :uropean CD?D
E
rd
place in the C% Simulation ;eague, :uropean CD?D
CD?? C
nd
place in the E% Simulation ;eague, :uropean CD?? *7+-
C
nd
place in the C% Simulation ;eague, :uropean CD?? *7+-
/E1/ 1
st
pla&e in t"e 7% +imulation League- ,uropean /E1/ :%0;
E
rd
place in the C% Simulation ;eague, :uropean CD?C *%+-
C
nd
place in the "escue Simulation ;eague, :uropean CD?C *%+-
/E17 1
st
pla&e in t"e 7% +imulation League- ,uropean /E17 :F0;
E
rd
place in the E% Simulation ;eague, "oboCup CD?C
1
st
pla&e in t"e 7% +imLeague- +&ienti$i& C"allenge- RoboCup /E17
1
st
pla&e in t"e /% +imLeague- +&ienti$i& C"allenge- RoboCup /E17
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation 9B
+ele&ted Results: C)#()%)- 9%P0
Competition Results: C)#()%) and 9%P0
?@@B 9%P0: 7
rd
pla&e in t"e ++L League- RoboCup /EEE
CDD? 9%P0: 1
st
pla&e in t"e ++L League League- ,uropean :F0; /EE1
F%(+$ E
rd
place in the /S; ;eague ;eague, :uropean *7+- CDD?
CDDC F%(+$ C
nd
place in the SS; ;eague, :uropean *7+- CDDC
CDDE F%(+$ C
nd
place in the SS; ;eague, :uropean *7+- CDDE
CDDM 9%P0: 1
st
pla&e in t"e ++L League- ,uropean :F0; /EE8
CDDK 9%P0: 1st pla&e in t"e ++L League- ,uropean /EE<
9%P0: /nd pla&e in t"e ++L League- RoboCup /EE<
/EE? C)#()%): 1
st
pla&e in t"e #+L League- RoboCup /EE?
CDD@ C)#()%): 7
rd
pla&e in t"e #+L League- RoboCup /EEB
CD?D CA/2A%A$ C
nd
place in the /S; ;eague, :uropean CD?D
C)#()%): 7
rd
pla&e in t"e #+L League- RoboCup /E1E
CD?? C)#()%): 7
rd
pla&e in t"e #+L League- RoboCup /E11
C)#()%): 1
+T
pla&e in t"e #+L League +&! C"allenge- RoboCup /E11
CD?E C)#()%): 7
rd
pla&e in t"e #+L League- RoboCup /E17
C)#()%): 1
+T
pla&e in t"e #+L League Te! C"allenge- RoboCup /E17
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <E
Coordination of 9eams in Adversarial :nvironments$
+trategy- 1ormations :+(+P4%T;- %PR,- +etplays
Complete Ta&ti&al41ormation 1ramewor5 and +etplay
1ramewor5 including graphical interfaces
Feneri& Coordination 1ramewor54Library:
/ay be used for coordinating any team$
<orld State 0N 3igh0;evel %ecision'
8seful for researching on ;ow0;evel "obotics'
/ethodologies with competition success
%i$$erent robots- distin&t &ooperati'e roboti& tasks and also to
ot"er domains$ "escue, surveillance, military apps
Con&lusions
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <1
Limited mobility o$ &ertain indi'iduals
#ncrement of the population aged over KD years
Indi'iduals wit" se'ere p"ysi&al disabilities
Cerebral palsy
9etraplegia
Inability to &ontrol &on'entional ele&tri&
w"eel&"airs
D.DD
F.DD
?.D.DD
?@KD ?@AD ?@BD ?@@D CDDD CD?D CDCD
N
u
m
b
e
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o
$
e
ld
e
r
ly

Near
3orldwide elderly population :in millions;
1B?E-/E/E
#ntellwheels (ro!ect /otivation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation </
%e$inition:
Roboti& de'i&e with sensorial and actuation
systems and processing capabilities$
Semi0Autonomous behavior with obsta&le
a'oidan&e
)utonomous na'igation and planning
capabilities
,leible Human-#a&"ine intera&tion
Cooperation with other #< and with other
devices *e.g. automatic doors-
#ntelligent <heelchair
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <7
#ore t"an 9E I3 international
pro2e&ts
+bstacle avoidance
3uman0machine interface
/AS very restricted use
#< built from scratch
IneDisten&e
#< useful in practice$
)ery low cost
;ow ergonomic impact
8seful for handicapped individuals
/ied reality environment
,leible multi0modal interface
#< development platform
#ore t"an 9E I3 international
pro2e&ts
+bstacle avoidance
3uman0machine interface
/AS very restricted use
#< built from scratch
IneDisten&e
#< useful in practice$
)ery low cost
;ow ergonomic impact
8seful for handicapped individuals
/ied reality environment
,leible multi0modal interface
#< development platform
"elated <ork
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? ACCo/o, 8niversidade Chiba, Chiba, IapJo O O O O O O O
C Automated07uided <heelchairP&:C Corporation, IapJo O O OJ
E Autonomous <heelchairPAri4ona State 8niversity, .+) O O O O
M CA;; Centre, 8niversidade of :dinburgh, ,s&K&ia O O O O
F CC(<&SP8niversity of &otre %ame, .+) O O OJ
K C3A"3/PAdvanced 9echnologies %evelopment Center, )rgPlia O O
A C+AC3P,rench Atomic :nergy Comission, 1ranOa O O O
B C<AP&ational 8niversity of Singapore, +ingapore O O
@ C<A *(ower- O O
?D %eictic <heelchair, &ortheastern 8niversity, 2oston, .+) O O O O O
?? :ASQ, 8niversidade de 2remen, )leman"a O O O O O
?C ,"#:&%, 8niversidade de 2remen, )leman"a O O O O O
?E 3ephaestusP9"AC ;abs, .+) O O OJ
?M #&C3PQale 8niversity, .+) O O O
?F #&"+P,3"avensburg0<eingarten, )leman"a O O O O O
?K #ntelligent <heelchairP8niversity of 9eas at Austin, .+) O O O O O
?A #ntelligent <heelchair SystemP+saka 8niversity, >apan *protRtipo ?- O O O O O O
?B #ntelligent <heelchair System*prototipo C- O O O O
?@ #ntell<heels, 8niversidade do (orto, ,:8(, Portugal O O O O O O O O O O O O
CD ;uoson ###P&ational Chung Cheng 8niversity, Taiwan O O O O O, O O
C? /AidP"#AH(, )leman"a O O O O O O O
CC /ister :dP#2/, .+) O O O O O O O
CE /r. 38"#PQonsei 8niversity, Korea O O O O O O
CM &avChairP8niversity of /ichigan, .+) O O O O
CF &;(" "oboti4ed <heelchairPChinese Academy of Sciences, C"ina O O O O O O O
CK +/&#P8niversity at 3agen, )leman"a O O O O O O O
CA +rpheusP&ational 9echnical 8niversity of Athens, FrP&ia O O O
CB (haetonP&ortheastern 8niversity, .+) O O O O O O
C@ "obChairP8niversity of Coimbra, Portugal O O O O O O
ED "oboChair, 8niversidade de :sse e CAS, .K e C"ina O O O O O O
E? "obotic <heelchairP,+"93, FrP&ia O O O O
EC "ollandP8niversity of 2remen, Fermany *protRtipo ?- O O O O O O O
EE "olland *protRtipo C- O O O O
EM "olland *protRtipo C comlaser- O O O
EF S:&A, 8niversidade de /Slaga, ,span"a O O O O O O O O
EK S:&A"#+P9#%:, ,inlTndia O O O O O O
EA SiamoP8niversity of Alcala, ,span"a O O O O O O O O O O, OJ
EB S#"#8SP8niversity of Seville, ,span"a O O O
E@ Smart AlecPStanford 8niversity, .+) O O O O
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MF 8niversity of Ancona, Italia O O O
MK 8niversity of (lymouth, .K O O O O O O
MA 8niversity of (ortsmouth, .K O OJ
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <8
Pro2e&ts and Prototypes
/adaras4 U?@BKV +mnidireccional #< U?@@EV 9wo legsW#< U?@@MV &avChair U?@@KV
9in /an # U?@@FV 9in /an ## U?@@BV ,"#:&%Ws (ro!ect U?@@@V ;8"C3 UCDDAV
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)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
"elated <ork
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <9
0$$-t"e-s"el$ de'i&es
0 3uman0machine interface
0 :asy to adapt to other wheelchair models
0 (owered wheelchair control
0 Sensors and (rocessing.interface board
(asi& $un&tions de'eloped in $irmware
:wit"out PC;
0 Sensor reading
0 (re0processing odometry
0 +bstacle avoidance
#ntell<heels 0 3ardware
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <<
#ulti )gent approa&"
0 #nteraction, communication, redundancy
0 :asy to add new functionalities
Hardware module
:lectric wheelchair, sensors, actuators,
microprocessor, (C
+imulator module
)irtual environment and mied reality
Control )gent
;ow0level control algorithms
Per&eption )gent
Sensors, mapping and locali4ation
Intelligen&e4Cogniti'e )gent
3igh0level decision, planning and cooperation
Inter$a&e )gent
#nterprets user5s inputs into high level commands
#ntell<heels Software./AS
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <>
1a&ial ,Dpressions Hoi&e Commands Head Festures Ioysti&5 4 (uttons
!!!
T"ere is no single input well adapted $or all p"ysi&al limitations
#ntell<heels combines user inputs *e.g. speech, pen, touch, gestures-
8ser may define his own language
,ree association input sequence0Ncommand
#ntell<heels /ultimodal #nterface
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
)&tion:
3"eel&"air goes to
Room )
2link ;eft :ye Say !o
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <?
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
"eal <heelchair (rototype
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation <B
#ultimodal
Inter$a&e
Control #odule
+imulator
Real I3
Intell3"eels
+erious Fame
%ata Fat"ering
+ystem
Input %e'i&e
)d'isor
Control )d'isor
Command
Language )d'isor
%ata )nalysis +ystem
#anager
(atient
U<heelchair 8serV
Specialist
U+ccupational 9herapistV
+ystem )r&"ite&ture
X
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >E
.ser Pro$iling
#ntegrated in the /ultimodal #nterface
Simple interactive tests that do not involve the #<
:valuates user capability to use inputs
#ulti-#odal Inter$a&e .ser Pro$iling
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >1
Simulated :nvironment and <heelchair
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >/
Intell+im* Tests 3it" Cerebral Palsy Patients
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >7
+"ared 3"eel&"air Control
Aid level of ?DDY
Aid level of FDY
/anual with obstacle avoidance
+bstacle Avoidance Aided FDY
3"eel&"air Control
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >8
Command Language
Command
Language
Re&ognition Intuiti'ity
Sequence of inputs S
i
: I
(i,1)
I
(i,2)
I
(i,3)
I
(i,Ni)
%ata )nalysis +ystem
) (
1
) , (
i timeout
N
k
ID
t t t
i
k i
I i S
+ =

=
=
j
j C
C
j
S
t T
1

=
=
j
j eff
C
j
S C
t eff T
1
) (
[ [ [ ]
1
1

1 , 0 , 0 :
+
+
i
i
S
S
t
t
eff
a
time to select inputs timeout
total time for all the commands
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
,$$i&ien&y
Sequence S
i
recognition value

=
=
i
k i
N
k
ID
I
i
F regS
1
) , (
Total recognition value of a set of commands

=
=
j C
j
j reg
regS T
1
Intuitiveness of a sequence of inputs S
i
Efficiency:
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >9
Command Language
) ( max arg
int
, ,
int
T T T
reg eff
T T T
reg eff
+ +
Maximizes the function composed by the total time
efficiency, total recognition and intuitiveness
%ata )nalysis +ystem
*wZrec, wZtime, wZintu- [ weightsG evaluation \ D
for ncom[ ? to &C do
rec)al \ ?G time)al \ DG intu)al \ ?
for nseq [ ? to &S do
inp%ev \ input%evice*solutionUncomVUnseqV-
inp \ input*newSolutionUncomVUnseqV-
if inp%ev [ &8;; then break
else
rec)al \ rec)al J recUinp%evVUinpV
time)al \ time)al L timeUinp%evVUinpV
intu)al \ intu)al J intuUncomVUinp%evVUinpV
endif
endfor
evalComm\ wZrecJ rec)al L wZtimeJ?.*time)alL?-
L wZintuJintu)al
evalua]on \ evalua]on L evalComm
endfor
return evaluation
)I and Roboti&s6 Coordination o$ RoboCup Teams6 Intellw"eels Pro2e&t 6 Robot %an&ing Pro2e&t 6 Con&lusions
Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ><
Command Language )d'isor
#nput %evice
Advisor
Control Advisor
Command
;anguage
Advisor
%ata )nalysis +ystem
/ean of %AS evaluation higher than mean of
evaluation of the command language
recommended by specialist *p value [ D.DDC-
%ata )nalysis +ystem
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >>
Con&lusions
#any I3s prototypes are being de'eloped:
8ser adaptation is often neglected
"igid #nterfaces adapted to a single user *or user group-
Intell3"eels pro2e&t:
3igh0level commands through #ultimodal interface
#nterface adapted to users5 characteristics
#ntellSimis a realisti& simulator for testing and training
)utomati& adaptation using user pro$iling
Command language adapted to t"e user with better evaluation
than recommended by specialists
+"ared &ontrol with appropriate aid level
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >?
Pro2e&t )wards and %i'ulgation
/
nd
pla&e at ,estival &acional de "obRtica, #nternational Competition 1reebots, (ortuguese
"obotics +pen, #nstituto Superior 9^cnico, ;isbon, April CD??
FalardJo da In&lusJo at t"e &ategory )pplied In'estigation, 9eatro >os^ ;_cio da Silva, em
;eiria, E de %e4embro de CD??, %ia #nternacional da (essoa com %efici`ncia, Centro de
"ecursos para a #nclusao %igital *C"#%-, #nstituto (olit^cnico de ;eiria *#(;-
,irst 3onor /ention.Cnd (lace at the Award S+er CapaCS of Associabao Salvador, (ro!eto
#ntellwheels, :spabo 2:S Arte c ,inanba, ;isboa, (ortugal, ?K de >aneiro de CD?C
3onor mention, Iaime 1ilipe )ward, d(ro!eto Cadeira de "odas #nteligente com #nterface
/ultimodal ,leeveld 0 #nstituto &acional para a "eabilitabao, %ia #nternacional da (essoa com
%efici`ncia, E de %e4embro de CD?C
(est Paper )ward- ?Eth #nternational Conference on Autonomous "obot Systems and
Competitions 0 "obotica CD?E$ 2. /. ,aria, ;ues (aulo "eis, &uno ;au, d/anual, Automatic
and Shared /ethods for Controlling an #ntelligent <heelchair$ Adaptation to Cerebral (alsy
8sers, April CD?E
#ore t"an 7E TH- Radio and Newspaper reports
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation >B
Robot %an&ing #oti'ation
Inter-dis&iplinary area
Human-robot :non-'erbal; intera&tion
%esign o$ so&ial intelligent robots
Roboti& entertainment
,du&ation
T"erapy
Impro'e robotTs musi&al and bodily &ognition
Impro'e roboti& eDpressi'eness
No'el area o$ resear&"
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?E
Resear&" )reas
Active Audition
Choreography
Dance Motion
Generation
Audio Beat
Tracking
Rhythm
&
Metre
Embodiment
&
Entrainment
A
c
t
i
o
n
Live Beat-Synchronous
Robot Dancing
Active Audition
Choreography
Dance Motion
Generation
Audio Beat
Tracking
Rhythm
&
Metre
Embodiment
&
Entrainment
A
c
t
i
o
n
Live Beat-Synchronous
Robot Dancing
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?1
Robot %an&ing
.nnatural #o'ements
No #usi&al Input
No Li'e #usi&al Input
Pre-programmed %an&ing
Hirtual (ody
No R"yt"mi& Intelligen&e
No Human Intera&tion
No Robot )udition
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?/
Pro2e&t 0b2e&ti'es
Implementation o$ a r"yt"mi& intelligent robot &apable o$
dan&ing to li'e musi& in a real-world en'ironment
1. 0nline beat-tra&5ing to &ontinuous musi& stimuli
2. Representation and mapping o$ "uman
dan&e mo'ements onto "umanoid robots
3. 0nline beat-syn&"ronous robot dan&ing 4. Robot audition $or real-world robot dan&ing
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?7
#apping +amba onto Humanoids
"uman Mo#ap Recording
"uman Mo#ap $od% Model
Ro&o' "(AR$) $od% Model
Ro&o' NA) $od% Model
*imula'ed Ro&o' NA)
Real Ro&o' "(AR$)
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?8
(eat-+yn&"ronous Robot %an&ing %emonstration
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?9
(eat-+yn&"ronous Robot %an&e %emo
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?<
Li'e ,go Noise-Robust (eat Tra&5ing %emo
(owered by
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?>
)n )&ti'e )udition 1ramewor5 $or )uditory-dri'en HRI
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ??
Human-Intera&ti'e Robot %an&ing %emo
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation ?B
/ulti0"obot Coordination.1leDible and )daptati'e
+trategy
1leDible and )daptati'e #ultimodal Intera&tion for
3uman0"obot Cooperation
Realisti& +imulation and 2ridging the 7ap between
Simulation and "obotics
Inno'ati'e Pro2e&ts %eveloped at (ortugal
&ational and #nternational Collaborations
)wards, (roducts and (atents
+&ienti$i& +u&ess$ /ore than ?DD papers at #S# <eb of
Hnowledge.Scopus about these E pro!ects
Conclusions
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Luis Paulo Reis :: Key Issues and New Trends in Human-Robot Intelligent Cooperation BE
Lus Paulo Reis
lpreisdsi!umin"o!pt
#ember o$ t"e %ire&ti'e (oard o$ LI)CC * )rti$i&ial Intelligen&e and Computer +&ien&e Lab!
)sso&iate Pro$essor at +&"ool o$ ,ngineering- .ni'ersity o$ #in"o- Portugal
President o$ t"e Portuguese +o&iety $or Roboti&s
Key Issues and New Trends in
Human-Robot Intelligent
Cooperation