Universidad del Norte Department of Electrical and Electronics Engineering Intelligent Management of Hierarchical Behaviors Using a NAO Robot as a Vocational Tutor By Selene Sol Goenaga Silvera MASTER THESIS Advisor Dr. Christian G. Quintero M. Barranquilla, Atlántico, Colombia June 2017 Universidad del Norte Department of Electrical and Electronics Engineering Intelligent Management of Hierarchical Behaviors Using a NAO Robot as a Vocational Tutor A dissertation presented to the Universidad del Norte in partial fulfillment of the requirements for the degree of MASTER OF SCIENCE By ___________________________ Selene Sol Goenaga Silvera Advisor: ___________________________ Dr. Christian G. Quintero M. Barranquilla, Atlántico, Colombia June 2017 Universidad del Norte Department of Electrical and Electronic Engineering Abstract Intelligent Management of Hierarchical Behaviors Using a NAO Robot as a Vocational Tutor By Selene Sol Goenaga Silvera Advisor: Dr. Christian G. Quintero M. This thesis focuses on the development of an intelligent system which manages hierarchical behaviors using a NAO robot as a Vocational Tutor. This scenario allows a suitable interaction between the robot and the human being to evaluate the different personality traits managed by the intelligent system. Therefore, it is necessary to characterize common behaviors used by people during vocational tutor sessions (e.g., movements or robot's body postures), in order to create an intelligent system which can hold an interview, similar to humans. In this context, 20 behaviors are selected, which were classified and categorized into five personality profiles. Each of these profiles is based on a theory of personality traits called the "Five Factor Model". The testing results show how the intelligent management of hierarchical behaviors can be successfully achieved through the proposed approach, making the Human- Robot interaction friendlier. For future work, refinement of each behavior will allow an improvement in the Human-Robot interaction, and therefore greater fluency in conversation and brought closer the NAO as a vocational tutor. iii Acknowledgments First I would like to thank our God for giving me the strength to finish this study and for giving me the opportunity to see this great dream culminated. To my parents, whom I thank for their deep love, support and confidence. To my siblings for their words of support and encouragement in the most difficult moments. Special thanks to my advisor Christian G. Quintero. Without their assistance and dedicated involvement in every step throughout the process, this thesis would have never been accomplished. Finally, I would like to thank to those people who somehow contributed to the creation of this document. Thank you all for your contributions and support, so important to the success of this project. iv To my God, mother, family and friends v General Contents Part I: Introduction and Related Work Motivation, objectives, main contributions and an overview of general concepts used in this thesis dissertation. A review of relevant related work used as reference and inspiration to develop the proposed approach. Part II: Proposed Approach General considerations and implementation of the proposed intelligent system approach that allows the management of hierarchical behaviors using a NAO robot as a vocational tutor. Part III: Experimental Results and Conclusions Analysis and discussion of the experimental results, final conclusions and future research related to the management of hierarchical behaviors in robots based on intelligent systems. vi Detailed Contents PART I INTRODUCTION AND RELATED WORK Chapter 1 ................................................................................................. 19 Introduction ........................................................................................... 19 1.1. Motivation .......................................................................................................................... 19 1.2. Objectives ........................................................................................................................... 21 1.2.1. Thesis Question.................................................................................................... 21 1.2.2. Approach ................................................................................................................. 22 1.3. Contributions .................................................................................................................... 22 1.4. Reader's Guide to the Thesis ..................................................................................... 23 Chapter 2 ................................................................................................. 24 Background Information .................................................................... 24 2.1. Humanoid Robot NAO Specifications ................................................................... 24 2.1.1. Humanoid Robot NAO Hardware ................................................................ 25 2.1.1.1. Input devices ..................................................................................................... 26 2.1.1.2. Output devices ................................................................................................. 26 2.1.1.3. Kinematics ......................................................................................................... 26 2.1.2. Humanoid Robot NAO Software .................................................................. 28 2.1.2.1. Choregraphe...................................................................................................... 28 2.2. Vocational Guidance ...................................................................................................... 31 2.2.1. Theory of Vocational Personalities and Work Environments ....... 31 2.2.1.1. Vocational Personalities .............................................................................. 32 2.3. Personality Theory: Five-Factor Model ............................................................... 35 2.3.1. Inventory of Personality Adjectives ........................................................... 36 vii 2.4. Computational Intelligent System .......................................................................... 38 2.4.1. Artificial Neural Networks (ANN) ............................................................... 38 Chapter 3 ................................................................................................. 39 Related Work ......................................................................................... 39 3.1. Introduction ...................................................................................................................... 39 3.1.1. Robot Locomotion .............................................................................................. 40 3.1.2. Robot Vision .......................................................................................................... 41 3.2. Human-Robot Interaction .......................................................................................... 41 3.2.1. Imitating Human Emotions with Behaviors .......................................... 42 3.2.2. Management of Behaviors .............................................................................. 43 3.2.3. Personality-Based Robot Behaviors .......................................................... 47 3.2.4. Other research in the field of HRI ............................................................... 49 3.3. Final Remarks................................................................................................................... 51 PART II PROPOSED APPROACH Chapter 4 ................................................................................................. 54 Implementation of the IBM Approach ............................................ 54 4.1. Problem Statement ........................................................................................................ 54 4.2. Scenario for Intelligent Management of Behaviors ........................................ 55 4.3. Scenario Configuration: System Schema ............................................................. 56 4.3.1. Interview Control Module............................................................................... 58 4.3.2. Speech Recognition Module ........................................................................... 58 4.3.3. Tracking and Face Detection Module ........................................................ 59 4.3.4. Voice Module ......................................................................................................... 60 4.3.5. Interview Script File .......................................................................................... 60 4.3.5.1. Greeting protocols .......................................................................................... 60 viii 4.3.5.2. Interview session ............................................................................................ 61 4.3.5.3. Ending protocols ............................................................................................. 63 4.3.6. Behaviors Module ............................................................................................... 65 4.3.6.1. Behaviors at Level I: Individual Movements ..................................... 65 4.3.6.1.1. Facial Expressions ..............................................................................