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ABSTRACT and the latter will be employing multiple robot systems using real
time broadband wireless network based on IPv6.
This paper introduces ubiquitous robot (Ubibot) as a third gener-
ation of robotics, incorporating three forms of robots: software The Ubibot has been developed based on the robot technol-
robot (Sobot), embeded robot (Embot) and mobile robot (Mobot), ogy and the concept of ubiquitous computing in the Robot Intel-
which can provide us with various services by any device through ligence Technology (RIT) Lab., KAIST since 2,000. In the future
any network, at any place anytime in a ubiquitous space. Sobot is a we will live in a ubiquitous world where all objects and devices are
virtual robot, which has the ability to move to any place through a networked. In this ubiquitous space, u-space, a Ubibot will pro-
network. Embot is embedded within the environment or in the vide us with various services anytime, at any place, by any device,
Mobot. Mobot provides integrated mobile services, which are through any network. Following the general concepts of ubiqui-
seamless, calm and context-aware. A Sobot, Rity, is introduced tous computing, Ubibot will be seamless, calm, context-aware, and
to investigate the usability of the proposed concept. Rity is a 3D networked.
synthetic character which exists in the virtual world, has a unique Although this paper is to investigate the feasibility of Ubibot,
IP address and interacts with human beings through an Embot im- the basic concept leads us to seek the essence of “what it means to
plemented by a face recognition system using a USB camera. To be robot in the third generation of robotics.” So far most of robot
show the possibility of realization of Ubibot by using the current researchers have been devoted to develop and improve function-
state of the art technologies, two kinds of successful demonstra- alities of robot such as intelligence, human-robot interaction, and
tions are presented. Also robot genome is proposed to implement mobility, without mentioning the essence of the robot as an artifi-
a genetic robot, which is to investigate ”The Origin of Artificial cial creature.
Species.” To implement the robot genome, artificial chromosome Since “The Origin of Species” by Charles Darwin in 1859,
is introduced. This paper shows the personality of genetic robots the concept of evolution has been widely spread around the world.
is decided by their genome. Motivated by his discovery of evolution, the simulated evolution
has been applied to engineering problems to get an optimal so-
lution by employing the concept of chromosome representing the
1. INTRODUCTION
solution candidate. In 1976, Richard Dawkins claimed that “We
This paper is to investigate the feasibility of implementation of and other animals are machines created by our genes” [6]. In the
ubiquitous robot (Ubibot) by using the current state of the art tech- third generation of robotics, genetic robot can be proposed, which
nology, which can be defined as a third generation of robotics. is created by artificial chromosome [7].
Also it is to define genetic robot to investigate ”The Origin of Arti- This paper introduces a new concept of artificial chromosome
ficial Species.” The genetic robot can be considered as an artificial as the essence to define the personality of a genetic robot and to
creature created by artificial chromosome. pass on its traits to the next generation, like a genetic inheritance.
In an ubiquitous era we will be living in a world where all It is an essential component for simulated evolution, which nec-
objects such as electronic appliances are networked to each other essarily defines ”The Origin of Artificial Species.” If we think the
and a robot will provide us with various services by any device origin in terms of the essence of the artificial creatures, the essence
through any network, at any place anytime. This robot is defined should be a computerized genetic code, which determines a ge-
as a ubiquitous robot, Ubibot, which incorporates three forms of netic robot’s propensity to “feel” happy, sad, angry, sleepy, hungry
robots: software robot (Sobot), embeded robot (Embot) and mo- or afraid.
bile robot (Mobot) [1, 2, 3]. The first part of this paper presents the definition and basic
The Ubibot is following the paradigm shift of computer tech- concepts of Ubibot incorporating three forms of robots; Sobot,
nology. The paradigm shift of robotics is motivated by ubiquitous Embot, and Mobot. A Sobot, called Rity, developed at the RIT
computing and the evolution of computer technology in terms of Lab., KAIST, is introduced to investigate the usability of the pro-
the relationship between the technology and humans [4, 5]. Con- posed concept of Ubibot [8, 9]. Rity is a 3D synthetic character
sidering the evolution of robot technology, the first generation was which exists in the virtual world, has a unique IP address and in-
dominated by industrial robots followed by the second generation teracts with human beings through an Embot implemented by a
in which personal robots are becoming widespread these days, and face recognition system using a USB camera.
as a third generation in the near future, Ubibot will appear. Com- Rity is an autonomous agent which behaves based on its own
paring the paradigm change between the personal robot and ubiq- internal states, and can interact with a person in real-time. It can
uitous robot eras, the former is based on individual robot systems provide us with an entertainment or a help through various interac-
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Proceeding of the Second American University of Sharjah International Symposium on Mechatronics, Sharjah, U.A.E. April 19-21, 2005
AUS-ISM/05-2
Proceeding of the Second American University of Sharjah International Symposium on Mechatronics, Sharjah, U.A.E. April 19-21, 2005
Sobot
Sensors
Vision Sound Tactile Gyro IR Timer
Perception
module
Symbolizer
Attention selector Reward/penalty
Symbol vector
signal
Masking
Inherent
behavior Behavior
Urgent
selector
flag
module
Behavior selector
Actuator
Motor
module
Sobot is a software robot which recognizes a situation by itself, be- The internal state module defines the internal state with the mo-
haves based on its own internal state, and can interact with a person tivation unit, the homeostasis unit and the emotion unit. Motiva-
in real-time. Sobot should be autonomous; it must be able to select tion (M ) is composed of six states: curiosity, intimacy, monotony,
a proper behavior according to its internal state such as motiva- avoidance, greed, and the desire to control. Homeostasis (H) in-
tion, homeostasis and emotion. Also, Sobot should be adaptable; cludes three states: fatigue, hunger, and drowsiness. Emotion (E)
it should adapt itself to its environment. For the purpose of achiev- includes five states: happiness, sadness, anger, fear, and neutral.
ing these functions easily and efficiently, Sobot mimics an animal According to the internal state, a proper behavior is selected.
which is an autonomous and adaptable agent in nature. Fig. 2
shows an internal architecture of the proposed Sobot, Rity, where
necessary modules are defined as follows: 1) Perception module,
which perceives environment through virtual and physical sensors, 3.3. Behavior selection module
2) Internal state module, which includes motivation,homeostasis
and emotion, 3) Behavior selection module, which selects a proper
behavior, 4) Learning module, which learns from the interaction Behavior selection module is used to choose a proper behavior,
with a people, and 5) Motor module, which executes a behavior based on Sobot’s internal state as well as stimulus information.
and expresses emotion. When there is no command input from a user, various behaviors
can be selected probabilistically by introducing a voting mecha-
nism, where each behavior has its own voting value. The algorithm
is described as follows: 1) Determine temporal voting vector, Vt
using M and H, 2) Calculate voting vector V by masking Vt with
3.1. Perception module attention command and emotion masks, 3) Calculate a behavior
selection probability, p(b), using V , 4) Select a proper behavior b
The perception module includes a sensor unit, a releaser having by p(b) among various behaviors.
stimulus information provided by a symbol vector and a sensitivity Initially, the temporal voting vector is calculated from the mo-
vector, and attention selector. This module can perceive and assess tivation and homeostasis as follows:
the environment and send the stimulus information to the internal
state module. Sobot has several virtual sensors for light, sound,
temperature, touch, vision, gyro, and time. Sobot can perceive 47 ³ ´
VtT = MT DM + HT DH
types of stimulus information from these sensors. Based on these (1)
information, Sobot can perform 77 different behaviors. =[vt1 , vt2 , · · · , vtn ]
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Proceeding of the Second American University of Sharjah International Symposium on Mechatronics, Sharjah, U.A.E. April 19-21, 2005
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Proceeding of the Second American University of Sharjah International Symposium on Mechatronics, Sharjah, U.A.E. April 19-21, 2005
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Proceeding of the Second American University of Sharjah International Symposium on Mechatronics, Sharjah, U.A.E. April 19-21, 2005
(a) (b)
5. ROBOT GENOME
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Proceeding of the Second American University of Sharjah International Symposium on Mechatronics, Sharjah, U.A.E. April 19-21, 2005
I-GENES
(a) (b)
B-GENES
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Proceeding of the Second American University of Sharjah International Symposium on Mechatronics, Sharjah, U.A.E. April 19-21, 2005
6. CONCLUDING REMARKS [8] Y.-D. Kim, Y.-J. Kim, J.-H. Kim and J.-R. Lim, “Implemen-
taton of Artificial Creature based on Interactive Learning,”
This paper introduced a ubiquitous robot, Ubibot, as a third gen- in Proc.of FIRA Robot World Congress, Seoul, Korea, pp.
eration of robotics, which integrates three forms of robots: Sobot, 369-373, May 2002.
Embot and Mobot. Rity, a Sobot or an artificial creature living in [9] Y.-D. Kim, Y.-J. Kim, and J.-H. Kim, “Behavior Selection
a virtual 3D world of a PC, was implemented using two scenarios and Learning for Synthetic Character,” in Proceedings of the
to demonstrate the possibility of realizing Ubibot. The first sce- IEEE Congress on Evolutionary Computation, pp. 898-903,
nario illustrated how Rity, with the support of Embot, could recog- 2004.
nize its master and reacted properly. This was to show the seam-
less integration of real and virtual worlds. The second scenario [10] C. Breazeal, “Function Meets Style: Insights From Emotion
demonstrated how Sobots could be transmitted through networks Theory Applied to HRI,” IEEE Trans. on Systems, Man, and
and be transposed into different locations. This was to demonstrate Cybernetics, Part C, vol.32, no. 2, pp. 187-194, May 2004.
the omni-presence capability by using Sobot. This paper also pro- [11] H. Miwa, T. Umetsu, A. Takanishi, and H. Takanobu, “Robot
posed a new concept of robot genome to investigate “The Origin of personality based on the equation of emotion defined in the
Artificial Species,” such as genetic robot. The robot genome was 3d mental space,” in Proc. of IEEE Int. Conf. on Robotics
implanted into Rity to test a feasibility that genetic robots could and Automation, vol. 3, Seoul, Korea, pp. 2602-2607, May
have their own personality. The artificial chromosomes will lead 2001.
the genetic robot to reproduction and evolution.
[12] J. Bates, A.B. Loyall and W.S. Reilly, “Integrating Reactiv-
In the new ubiquitous era, our future world will be composed
ity, Goals, and Emotion in a Broad Agent,” in Proc. of 14th
of millions of u-spaces, each of which will be closely connected
Ann. Conf. Cognitive Science Soc., Bloomington, IN, July
through ubiquitous networks. In this u-space we can expect that
1992.
Ubibot will help us whenever we click as Genie of the Magic Lamp
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Center (ITRC) Support Program. Scotland, 1999.
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