1. MIT Artificial Intelligence Laboratory — Research Directions The Next Generation of Robots? Rodney Brooks

2. MIT Artificial Intelligence Laboratory — Research Directions

3. Levels of Control robot responds to human human responds to robot Social Level Primitives Level Skills Level Behavior Level current goal current primitive(s) coordination between motor modalities perceptual feedback

4. MIT Artificial Intelligence Laboratory — Research Directions Neck pan Neck tilt Neck lean Eye tilt Left eye panRight eye pan Camera with wide field of view Camera with narrow field of view Axis of rotation Human Robot Microphones Cameras Speech synthesizer Facial features Gaze direction Head orientation

5. MIT Artificial Intelligence Laboratory — Research Directions Direct Visual Attention Recognize Socially Communicated Reinforcement Communicate Internal State to Human Regulation of Social Interaction Competencies

6. MIT Artificial Intelligence Laboratory — Research Directions No One in Charge 11 400-500 MHz PCs –QNX (vision) –Linux (speech recognition) –NT (speech synthesis & vocal affect recognition NT speech synthesis affect recognition Linux Speech recognition Face Control Emotive Response Percept & Motor Drives & Behavior L Tracker Attn system Dist. to target Motion filter Eye finder Motor ctrl audio speech comms Skin filter Color filter QNX CORBA dual-port RAM Cameras Eye, neck, jaw motors Ear, eyebrow, eyelid, lip motors Microphone Speakers 4 Motorola 68332 micro- controllers L, multi- threaded lisp higher-level perception, motivation, behavior, motor skill integration & face control

7. MIT Artificial Intelligence Laboratory — Research Directions Visual Attention inhibitreset Frame Grabber Eye Motor Control Top down, task-driven influences wwww skin tone habituationmotion color attention

8. MIT Artificial Intelligence Laboratory — Research Directions Visual Search

9. MIT Artificial Intelligence Laboratory — Research Directions Social Constraints Comfortable interaction speed Too fast – irritation response Too fast, Too close – threat response Comfortable interaction distance Too close – withdrawal response Too far – calling behavior Person draws closer Person backs off Beyond sensor range

10. MIT Artificial Intelligence Laboratory — Research Directions Cross Cultural Affect Evidence for 4 contours in Kismet-directed speech time (ms)pitch, f (kHz) o approval That’s agood bo-o-y! No nobaby. time (ms) pitch, f (kHz) o prohibition Can you get it? Can you get it? time (ms) pitch, f (kHz) o attention time (ms)pitch, f (kHz) o MMMMOh, honey. comfort

11. MIT Artificial Intelligence Laboratory — Research Directions Affect Recognizer prohibition attention & approval soothing & low-energy neutral neutral Soothing & Low-Intensity neutral vs Everything Else Soothing vs Low-Intensity Neutral Approval & Attention vs Prohibition vs High Intensity Neutral approval vs attention soothing prohibition neutral approval attention energy variance pitch mean

12. MIT Artificial Intelligence Laboratory — Research Directions Naive Subjects 5 female subjects 4 naive subjects 1 caregiver Four contours and neutral speech praise, prohibition, attention, soothing Multiple languages French, German, Indonesian, English, Russian Driven by Human

13. MIT Artificial Intelligence Laboratory — Research Directions Facial Expressions arousal sleep displeasurepleasure neutral excitement depression stress calm afraid angry frustrated relaxed content elated bored sad fatigued happy surprise sleepy

14. MIT Artificial Intelligence Laboratory — Research Directions Facial Postures in Affect Space Negative valence Open stance surprise unhappy tired anger fear Low arousal High arousal Positive valence Closed stance disgust accepting stern content

15. MIT Artificial Intelligence Laboratory — Research Directions Face, Voice, Posture

16. MIT Artificial Intelligence Laboratory — Research Directions Turn-Taking / Proto-Dialog Naïve subjects Told to “talk to the robot” Engage in turn taking No understanding (on either side) of content