1. rahe.populus.ch West Switzerland Univ. of Appl. Sc., Yverdon-les-Bains LaRA - Laboratory for Robotics and Automation Jean-Daniel Dessimoz 10th July 2008

2. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 2 Content  Models for emotions  Images and icons  Other ways to express emotions 1  Other ways to express emotions 2

3. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 3 Content  Models for emotions  Images and icons  Other ways to express emotions 1  Other ways to express emotions 2

4. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 4 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). Always positive. 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

5. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 5 Models for emotions Re. Kristof Goris

6. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 6 Content  Models for emotions  Images and icons  Other ways to express emotions 1  Other ways to express emotions 2

7. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 7 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

8. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 8 Content  Models for emotions  Images and icons  Other ways to express emotions 1  Other ways to express emotions 2

9. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 9 Other ways to express emotions 1  Classical ways to express robot status, perceptions, decisions and planned actions are used on our control panels  An extension is now possible, e.g. with a finger in front of the mouth instead of the green « Mute » panel, the head turning right, instead of « goal angle : -20 degrees», etc.

10. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 10 Content  Models for emotions  Images and icons  Other ways to express emotions 1  Other ways to express emotions 2

11. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 11 Other ways to express emotions 2  Instead of moving icons, as for turning head, it is better to 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 how the right wheel tends to lag behind when batteries run tired

12. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 12 Conclusion  This was a few words about emotions  Bye now!

13. RH3-Y, Western Switzerland Univ. of Appl. Sc., Yverdon-les-Bains, Robocup @ Home 2008, Suzhou-China 13 Acknowledgements Many colleagues, engineers and students/alumni of iAi, as well as various network partners have contributed to or inspired our current solutions.