University of Central Florida STARS Electronic Theses and Dissertations, 2004-2019 2004 Toward Building A Social Robot With An Emotion-based Internal Control Andreas Marpaung University of Central Florida Part of the Computer Sciences Commons, and the Engineering Commons Find similar works at: https://stars.library.ucf.edu/etd University of Central Florida Libraries http://library.ucf.edu This Masters Thesis (Open Access) is brought to you for free and open access by STARS. It has been accepted for inclusion in Electronic Theses and Dissertations, 2004-2019 by an authorized administrator of STARS. For more information, please contact [email protected]. STARS Citation Marpaung, Andreas, "Toward Building A Social Robot With An Emotion-based Internal Control" (2004). Electronic Theses and Dissertations, 2004-2019. 212. https://stars.library.ucf.edu/etd/212 TOWARD BUILDING A SOCIAL ROBOT WITH AN EMOTION-BASED INTERNAL CONTROL AND EXTERNAL COMMUNICATION TO ENHANCE HUMAN-ROBOT INTERACTION by ANDREAS HENDRO MARPAUNG B.S. University of Central Florida, 2002 A thesis submitted in partial fulfillment of the requirements for the degree of Master of Science in the School of Computer Science in the College of Engineering and Computer Science at the University of Central Florida Orlando, Florida Summer Term 2004 © 2004 Andreas Marpaung ii ABSTRACT In this thesis, we aim at modeling some aspects of the functional role of emotions on an autonomous embodied agent. We begin by describing our robotic prototype, Cherry—a robot with the task of being a tour guide and an office assistant for the Computer Science Department at the University of Central Florida. Cherry did not have a formal emotion representation of internal states, but did have the ability to express emotions through her multimodal interface. The thesis presents the results of a survey we performed via our social informatics approach where we found that: (1) the idea of having emotions in a robot was warmly accepted by Cherry’s users, and (2) the intended users were pleased with our initial interface design and functionalities. Guided by these results, we transferred our previous code to a human-height and more robust robot—Petra, the PeopleBot™—where we began to build a formal emotion mechanism and representation for internal states to correspond to the external expressions of Cherry’s interface. We describe our overall three-layered architecture, and propose the design of the sensory motor level (the first layer of the three-layered architecture) inspired by the Multilevel Process Theory of Emotion on one hand, and hybrid robotic architecture on the other hand. The sensory-motor level receives and processes incoming stimuli with fuzzy logic and produces emotion-like states without any further willful planning or learning. We will discuss how Petra has been equipped with sonar and vision for obstacle avoidance as well as vision for face recognition, which are used when she roams around the hallway to engage in social interactions with humans. iii We hope that the sensory motor level in Petra could serve as a foundation for further works in modeling the three-layered architecture of the Emotion State Generator. iv I would like to dedicate this thesis to my parents—Simon Marpaung, M.D. and Helena br. Simarmata—for their unconditional love, care, and support both physical and spiritual, and to my brothers and sister—Daniel Petrus Marpaung, M.D., Febri Ronald Marpaung, B.S., and Monika Magdalena br. Marpaung—for their support and love. Without them, I would not be able to be who I am right now. v ACKNOWLEDGMENTS I would like to acknowledge the following people, who have all been instrumental in the completion of this thesis, and my academic, social, and personal development. Dr. Christine Lisetti, for her patience, support, guidance and motivation from the minute I took her Affective Computing (AC) class to the completion of this thesis. My interest in the fields of robotic agents and emotion modeling started when I developed and worked with Cherry, as part of my project in the class and they have become my research interests since then. My other committee members—Dr. Charles Hughes, Dr. David Workman, and Dr. Mason Cash—for their guidance and feedback in making this thesis the best. My colleagues in the Affective Social Computing Laboratory at the University of Central Florida for their friendship and support. Eric P. Leger for his tremendous help in coding the navigation and obstacle avoidance system. Juan Martinez from the University Writing Center at the University of Central Florida for his tremendous help in reviewing and giving feedback. My wonderful brothers and sisters at City Blessing Ministries, especially Rev. Fredy Liwang, for their love as well as spiritual supports. Thank you very much for showing me what meaning of life is really about. vi Above all, I also like to acknowledge and thank God, for choosing me to be one of His sons. Without Him, I cannot live. I depend on Him for saving my soul, giving me abundant blessings, and comforting me with the warmth of His gentle hands every second I need Him. vii TABLE OF CONTENTS LIST OF FIGURES .....................................................................................................................xiii LIST OF TABLES........................................................................................................................ xv LIST OF ABBREVIATIONS...................................................................................................... xvi CHAPTER 1: INTRODUCTION..............................................................................................xviii1 1.1. Research Question ........................................................................................................... xxii5 1.2. Contributions.................................................................................................................... xxii5 CHAPTER 2: RELATED WORK............................................................................................. xxiv7 2.1. Robotic Architectures ..................................................................................................... xxiv7 2.1.1. Hierarchical Robot Architecture............................................................................... xxv8 2.1.2. Reactive Robot Architecture.................................................................................... xxvi9 2.1.3. Hybrid Deliberative/Reactive Robot Architecture.................................................xxviii 11 2.2. Emotion Modeling Projects ............................................................................................. 13 xxx 2.2.1. Kismet....................................................................................................................... 13 xxx 2.2.2. Leguin & Butler ..................................................................................................... xxxi 17 v 2.2.3. Fuzzy Logic Adaptive Model of Emotions (FLAME) ......................................... xxxvii 20 2.2.4. Cathexis.................................................................................................................. xxxix 22 2.2.5. Emotions in a Group of Autonomous Robots............................................................xlii 25 2.2.6. Graduate Student Attending Conference (GRACE)..................................................28 xlv CHAPTER THREE: OUR APPROACH...................................................................................... 33 33 3.1. Basic Social Expertise Activities....................................................................................... 34 34 viii 3.2. Emotion State Generator.................................................................................................... 36 3.2.1. Sensory Motor Level................................................................................................... 37 3.2.2. Schematic Level.......................................................................................................... 39 3.2.3. Conceptual Level ........................................................................................................ 40 3.3. Stimulus Evaluation Checks (SECs).................................................................................. 41 3.4. Schemata............................................................................................................................ 45 CHAPTER FOUR: IMPLEMENTATION................................................................................... 49 4.1. First Phase Development: Cherry, an Office Assistant ..................................................... 50 4.1.1. Hardware..................................................................................................................... 51 4.1.2. Software ...................................................................................................................... 55 4.1.2.1. WorldLink............................................................................................................ 55 4.1.2.2. Navigator.............................................................................................................. 56 4.1.2.3. Mapper ................................................................................................................. 56 4.1.2.4. Trainer.................................................................................................................. 57 4.1.2.5. ARIA...................................................................................................................