EP2451617A2 - System and method for generating contextual behaviours of a mobile robot - Google Patents
System and method for generating contextual behaviours of a mobile robotInfo
- Publication number
- EP2451617A2 EP2451617A2 EP10784435A EP10784435A EP2451617A2 EP 2451617 A2 EP2451617 A2 EP 2451617A2 EP 10784435 A EP10784435 A EP 10784435A EP 10784435 A EP10784435 A EP 10784435A EP 2451617 A2 EP2451617 A2 EP 2451617A2
- Authority
- EP
- European Patent Office
- Prior art keywords
- robot
- editing
- control
- text
- behaviors
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Ceased
Links
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1656—Programme controls characterised by programming, planning systems for manipulators
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06F—ELECTRIC DIGITAL DATA PROCESSING
- G06F8/00—Arrangements for software engineering
- G06F8/30—Creation or generation of source code
- G06F8/34—Graphical or visual programming
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06N—COMPUTING ARRANGEMENTS BASED ON SPECIFIC COMPUTATIONAL MODELS
- G06N3/00—Computing arrangements based on biological models
- G06N3/004—Artificial life, i.e. computing arrangements simulating life
- G06N3/008—Artificial life, i.e. computing arrangements simulating life based on physical entities controlled by simulated intelligence so as to replicate intelligent life forms, e.g. based on robots replicating pets or humans in their appearance or behaviour
Definitions
- the present invention pertains to the field of robot programming systems. More precisely, it applies to the control of behaviors coherent with the context in which the robot, in particular of human or animal form, evolves, expresses itself and moves on members articulated or not.
- a robot can be called a humanoid from the moment it has certain attributes of the appearance and functionality of the man: a head, a trunk, two arms, possibly two hands, two legs, two feet ...
- One of the features likely to give the robot an appearance and quasi-human behavior is the possibility of ensuring a strong coupling between gestural expression and oral expression.
- to achieve this result in an intuitive way would allow new groups of users to access the programming of behaviors of humanoid robots. This problem has not been correctly solved by the prior art.
- the invention makes it possible to insert in a text spoken by the robot commands of intonation and / or behaviors associated with the oral expression, said commands being able to be expressed for example graphically.
- the present invention discloses a system for editing and controlling behaviors of at least one robot comprising a module for editing a script to be reproduced by the robot, a sound synthesis module of said script, a library behavior control tags to be executed by the robot, a module for inserting said tags into said script and a module for generating and controlling the behaviors of said robot, said system being characterized in that said command tag library comprises at least one tag for controlling a behavior depending on the content of the script.
- the editing and control system further comprises a robot environment monitoring module and said control tag library comprises at least one tag for controlling a behavior depending on the environment of the robot.
- the control tag library comprises at least one tag selected from the waiting commands group, response commands to an expected external action.
- control tags are chosen from the group comprising graphic symbols, punctuation marks and words.
- a portion of the command tags is inserted into the script in the form of a list, each item of said list corresponding to a phrase with which a group of behaviors is associated.
- control tags is inserted into the script between at least one opening separator and at least one closing separator which respectively trigger the start of a sequence of behaviors and the end of said sequence.
- the behaviors to be executed by the robot are chosen from the group comprising combinations of the modulations of the voices reading the script, script accompanying gestures and signal transmissions.
- the modulations of the voices are chosen from a group comprising combinations of languages, voices, tones, speeds and different intonations.
- the script editing module communicates with the behavior control module of the robot by an electronic mail module.
- the editing and control system is able to interact with elements belonging to a group comprising physical robots, virtual robots and computers.
- the robots belonging to the commanded group each execute a part of the script determined by at least one control tag characteristic of each of the elements of the group.
- the behavior controlled by a control tag can change according to a method chosen from the group comprising the random change, the cyclic change or the contextual change.
- the invention also discloses a method for editing and controlling behaviors of at least one robot comprising a step of editing a script to be reproduced by the robot, a step of sound synthesis of said script, a step of reading a library of behavior control tags to be executed by the robot, a step of inserting said tags into said script and a step of controlling behaviors of said robot, said method being characterized in that said control tag library comprises at least one minus a tag to control a behavior depending on the contents of the script.
- the invention makes it possible to create behavioral libraries and to easily insert them into a script of scenes played by the robot.
- the language used is formally very close to the one used on the Internet and is therefore very easily accessible, without any prior knowledge or training.
- the invention also satisfactorily completes French Patent Application No. 09/53434 relating to a system and a method for editing and controlling the behavior of a mobile robot belonging to the Applicant.
- This provides means to execute behaviors by a robot, said behaviors can be controlled either using a specialized scripting language, accessible to programmers, or graphically by using preprogrammed libraries that can be selected and insert into a series of boxes of behaviors linked by events.
- the invention makes it possible to further simplify the programming interface of the behavior of the robot.
- the invention will be better understood and its various features and advantages will emerge from the following description of several exemplary embodiments and its appended figures including:
- FIG. 1 is an example of programming behaviors using elements of the BML language according to a document of the prior art
- FIG. 2 is a flowchart indicating the main steps of the method of the invention in one of its embodiments
- FIG. 3 is a view of a control beacon shaft provided for implementing the invention in one of its embodiments
- FIG. 4 is a first example of a scenario of use of the invention in one of its embodiments
- FIG. 5 is a second example of a scenario of use of the invention in one of its embodiments.
- FIG. 6 is a third example of a scenario of use of the invention in one of its embodiments.
- FIG. 7 is a fourth example of a scenario of use of the invention in one of its embodiments.
- FIG. 1 is an example of programming behaviors using elements of the BML language according to a document of the prior art.
- BML programming is for a virtual robot and not a physical robot. It does not generate commands directly executable by a physical robot.
- the system is able to control the behavior of a robot 10 which may be a humanoid robot with two lower limbs and two upper limbs or a robot having the appearance of a two or four-limb animal.
- the members of the robot can be provided with motorized joints, controlled by cards, possibly allowing it to move according to commands that are embedded and interpreted by one or more processors or transmitted from a server in form directly executable by the or processors embedded or to be developed by said processors.
- the robot is advantageously endowed with a head and a body completing its humanoid or animal form. It is also advantageously equipped with sensors enabling it to position itself in its environment and to perceive sound or movement signals coming from said environment.
- the robot can also have other action capabilities with its environment, such as sources of light emission or sound, or the ability to act on the Internet such as sending a mail or a phone call or a modification of the environment by communication with a home automation system.
- the editing and control system is provided with a script editor 20 in which is entered a text intended to be reproduced by the robot in the form of sound signals.
- This entry can be made directly using a simple computer keyboard or by loading into the system a file type text (* .doc, * .txt or other) or a html file (optionally designated by its URL).
- These files can also be received from a remote site, for example via a messaging system.
- the system or the robot is provided with a synthesis device 30 able to interpret the text of the script editor to produce sounds, which can be either words in the case of a humanoid robot, or sounds representative of the behavior of an animal.
- the sound synthesis device can also reproduce background sounds, for example background music which, possibly, can be played on a remote computer.
- the triggering of the reading of a story can be done during the reception of an external event to the robot such as:
- the system includes a library 40 of control tags to be inserted into the script editor by via an insertion module 50.
- the insertion is effected by dragging (gesture "drag and drop” with a mouse connected to the computer on which the editor is implanted) the command tag chosen in the editor.
- Fig. 3 is a view of a control beacon shaft provided for implementing the invention in one of its embodiments
- the different command tags are grouped by type of behavior to generate in directories some of which are viewable next to the script editor.
- Forms of reading of the script for example, the language in which the script will be read, in the case of a humanoid robot, may be chosen (French, English, Anglo-American, German, Russian, etc.) ); the voice may be a male, female or child voice; the tone may be more or less serious or acute; the speed may be more or less rapid; the intonation can be chosen according to the emotion that the robot is likely to feel according to the text of the script (affection, astonishment, anger, joy, remonstrance, etc.);
- Script accompanying gestures for example, arm movement up or forward; strike a foot on the ground; movements of the head upwards, downwards, to the right or to the left, according to the impression that one wants to communicate coherently with the script ...
- Emitting signals for example, if the robot is equipped with LEDs, they can be activated to express strong emotions "felt" by the robot by reading the text or to generate a blink of the eye adapted to the form and speed of speech.
- the tags inserted in the script generate the execution of the corresponding commands by the robot via a control module 6OB which can pass to the module for generating the signals transmitted by the robot. robot in response to commands.
- one of the features of the invention is to allow the automatic generation of commands consistent with the content of the script to be read by the robot.
- a first way to achieve this coupling is to have control tags related to punctuation: in this case, a question mark will generate a tone control consistent with the interrogative mode. Similarly for an exclamation point. Some words or punctuation may also automatically generate a tag that will command consistent behavior with that word. As non-limiting illustrations:
- the quotation marks can be linked to a beacon programmed to trigger a "quote” gesture, which consists of lifting the arms and opening and closing the fingers twice; adverbs or key words such as “here”, “after”, “many” can be linked to a programmed beacon to trigger the corresponding gesture;
- the word “hello” may be related to a programmed beacon to automatically generate an arm lift command tag;
- the expression “I love you” can be linked to a beacon programmed to automatically generate a control of the LEDs of the face which generates a blush of it;
- the expression "drive a car” can be linked to a beacon programmed to generate a movement imitating the gesture indicated in the expression;
- certain commands can be commands for interrupting and waiting for an external event, such as a movement in response to a question posed by the robot.
- certain commands may be dependent on the reactions of the robot to its environment, as measured by means of an environmental monitoring module 70.
- This module interfaces with sensors embedded on the robot.
- sensors embedded on the robot.
- a camera can identify features in the robot environment, such as another robot or a human handing the robot, or simply the presence or absence of spectators to play the robot. text only in the presence of an audience.
- the sensors can be, alternatively or in addition, ultrasonic sensors that detect movement in the environment close to the robot. In this case, if it is an expected response by the script in which a wait command has been inserted, the following command is executed.
- the commands of the library are transformed into the syntax of the tag language used to implement the invention from commands generated by the editing and control system disclosed by the French patent application No.
- the editing and control system can allow the control of several robots near or distant. It can be foreseen that the choice of the robot called to play a particular passage of a script is at the discretion of the user who can make your choice for example using tabs provided for this purpose in the interface of the editing and control system. We can also automate this allocation of passages of the script corresponding to different characters to separate robots, by embedding particular tags corresponding to each of the characters within the script.
- FIG. 4 is a first example of a scenario of use of the invention in one of its embodiments.
- [LANG en] -> changes the current language of the robot, so the robot is multi-language and the editor supports all languages of the robot (English, French, Italian, Spanish, German ...);
- Fig. 5 is a second exemplary use scenario of the invention in one of its embodiments.
- a graphical tag is inserted.
- This tag has the appearance of a "smiley” or emoticon, which is now a common language used in messaging and internet chats. This type of tag makes it even more intuitive to use the editing and control system of the invention.
- FIG. 6 is a third example of a scenario of use of the invention in one of its embodiments.
- Fig. 7 is a fourth exemplary use scenario of the invention in one of its embodiments.
- Figure 7 combines graphic tags and text tags.
- the user also has the possibility to change the name of the tags as he wishes and so replace them with a word of his choice. He may also decide to create a new behavior that he will associate with a word of his choice. For example, he can quite decide that every time he writes "Hi" in the editing and command system of the invention, the robot accompanies this word with a hand movement, the behavior containing the movement of the hand will therefore be associated with the tag "Hi".
- a beacon can be programmed to correspond to several behaviors: thus at each reading the behavior can change (it is either taken randomly, or sequentially, or can be dependent on the preceding and following words and markers, that is to say contextualized) .
- the invention can be implemented on a commercial computer that communicates with one or more robots via wired or wireless links.
- the generation of commands is advantageously carried out by the editing and control system disclosed by French Patent Application No. 09/53434 already cited.
- the robot or robots are advantageously equipped with a three-level control command architecture such as that disclosed by the French patent application No. 08/01956000 also belonging to the applicant. They must be equipped with software for interpreting the commands sent by the command generator of the invention.
- the examples described above are given by way of illustration of embodiments of the invention. They in no way limit the scope of the invention which is defined by the following claims.
Abstract
Description
Claims
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
FR0954837A FR2947923B1 (en) | 2009-07-10 | 2009-07-10 | SYSTEM AND METHOD FOR GENERATING CONTEXTUAL BEHAVIOR OF A MOBILE ROBOT |
PCT/EP2010/004234 WO2011003628A2 (en) | 2009-07-10 | 2010-07-12 | System and method for generating contextual behaviours of a mobile robot |
Publications (1)
Publication Number | Publication Date |
---|---|
EP2451617A2 true EP2451617A2 (en) | 2012-05-16 |
Family
ID=42111526
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
EP10784435A Ceased EP2451617A2 (en) | 2009-07-10 | 2010-07-12 | System and method for generating contextual behaviours of a mobile robot |
Country Status (6)
Country | Link |
---|---|
US (1) | US9205557B2 (en) |
EP (1) | EP2451617A2 (en) |
JP (1) | JP2012532390A (en) |
CN (1) | CN102596516B (en) |
FR (1) | FR2947923B1 (en) |
WO (1) | WO2011003628A2 (en) |
Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2933065A1 (en) | 2014-04-17 | 2015-10-21 | Aldebaran Robotics | Humanoid robot with an autonomous life capability |
Families Citing this family (17)
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FR2947923B1 (en) * | 2009-07-10 | 2016-02-05 | Aldebaran Robotics | SYSTEM AND METHOD FOR GENERATING CONTEXTUAL BEHAVIOR OF A MOBILE ROBOT |
JP5698614B2 (en) * | 2011-06-22 | 2015-04-08 | インターナショナル・ビジネス・マシーンズ・コーポレーションInternational Business Machines Corporation | Context information processing system and method |
FR2989209B1 (en) | 2012-04-04 | 2015-01-23 | Aldebaran Robotics | ROBOT FOR INTEGRATING NATURAL DIALOGUES WITH A USER IN HIS BEHAVIOR, METHODS OF PROGRAMMING AND USING THE SAME |
FR2991222B1 (en) * | 2012-06-01 | 2015-02-27 | Aldebaran Robotics | SYSTEM AND METHOD FOR GENERATING CONTEXTUAL MOBILE ROBOT BEHAVIOR EXECUTED IN REAL-TIME |
EP2933067B1 (en) * | 2014-04-17 | 2019-09-18 | Softbank Robotics Europe | Method of performing multi-modal dialogue between a humanoid robot and user, computer program product and humanoid robot for implementing said method |
EP2933070A1 (en) * | 2014-04-17 | 2015-10-21 | Aldebaran Robotics | Methods and systems of handling a dialog with a robot |
JP6417629B2 (en) * | 2014-08-07 | 2018-11-07 | 学校法人沖縄科学技術大学院大学学園 | INVERSE REINFORCEMENT LEARNING METHOD, STORAGE MEDIUM FOR STORING INSTRUCTION TO EXECUTE PROCESSOR FOR PROCESS FOR INVERSE REINFORCEMENT LEARNING, SYSTEM FOR INVERSE REINFORCEMENT LEARNING, AND PREDICTION SYSTEM INCLUDING SYSTEM FOR INVERSE REINFORCEMENT LEARNING |
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-
2010
- 2010-07-12 EP EP10784435A patent/EP2451617A2/en not_active Ceased
- 2010-07-12 JP JP2012518831A patent/JP2012532390A/en active Pending
- 2010-07-12 CN CN201080035241.XA patent/CN102596516B/en not_active Expired - Fee Related
- 2010-07-12 WO PCT/EP2010/004234 patent/WO2011003628A2/en active Application Filing
- 2010-07-12 US US13/383,196 patent/US9205557B2/en not_active Expired - Fee Related
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Cited By (1)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
EP2933065A1 (en) | 2014-04-17 | 2015-10-21 | Aldebaran Robotics | Humanoid robot with an autonomous life capability |
Also Published As
Publication number | Publication date |
---|---|
CN102596516B (en) | 2016-04-13 |
US20120197436A1 (en) | 2012-08-02 |
FR2947923A1 (en) | 2011-01-14 |
CN102596516A (en) | 2012-07-18 |
WO2011003628A3 (en) | 2011-03-03 |
JP2012532390A (en) | 2012-12-13 |
FR2947923B1 (en) | 2016-02-05 |
US9205557B2 (en) | 2015-12-08 |
WO2011003628A2 (en) | 2011-01-13 |
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