robotics education with nao -beauty in behaviors of human ... · postures by using choregraphe...
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Robotics Education with NAO-Beauty in Behaviors of Human and
Humanoid Robot
Wataru Takano Yoshihiko Nakamura
( The Univ. of Tokyo)
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Background
In the future, humanoid robots are expected to live with us in our daily lives.The future generation will need to understand the challenge of this cohabitation to realize a society where we can efficiently and effectively cooperate.
Educational Partnership Program launched by Aldebaran Robotics
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Background
Laboratories in the Department of Mechano-Informatics of the University of Tokyo participated in the educational program, and purchased 30 small humanoid robots (NAO) last year.
Our laboratory have 12 NAOs and use them for education and research.
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Symbolization of motion
segmentation
motion symbol space
motion prediction motion-verb
linguistic space
natural languageinteraction
Why Behaviors of Human and Humanoid
Humanoid Robot Intelligence based on Behaviors
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Winter Semester
Mechanical Engineering Seminars:・Each professor set the original theme.・3rd grade undergraduate students choose
which seminars to take.・3 or 4 students participate in each seminars.
Prof. Nakamura and I offered a course entitled “Beauty in Behaviors of
Human and Humanoid Robots” .
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“Beauty in Behaviors of Human and Humanoid Robots”
The long term aim is to pursue sophisticated behaviors of humanoid robots based on the interdisciplinary knowledge from robotics, arts, and other kinds of fields.
Prof. Kitago laboratory (a Tokyo University of the Art, Sculpture laboratory) joined our seminar.
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“Beauty in Behaviors of Human and Humanoid Robots”
poster to announcement of our seminar for 3rd grade students
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Around 10 students from the University of Tokyo and Tokyo University of Art attends our seminars.They ・discussed the beauty of behavior, ・sketched humans movement talents,・programmed NAOs・gave presentations on their worksin groups of 3 or 4.
“Beauty in Behaviors of Human and Humanoid Robots”
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Programming NAOs
Teaching and PlaybackStudents set a sequence of key frames for postures by using Choregraphe software provided by Aldebaran Robotics. The interpolation of the key frames generates seamless behaviors of NAO.
Group A
Group B
Group C
Group D
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Programming NAOs
We assumed that beauty appears in the harmony of behaviors and environment. They designed robot behaviors which synchronized with music.
Team A
Team B
Team C
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We visited Tokyo University of Art, and sketched human talent
in order to observe human attitude and behaviors in details.
Sketch Humans Movement Talents
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Enhancement of Our Research
Imitation LearningNAO observes human behavior, and performs the same behavior.
A performer with markers is captured by optical motion capture system.
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Enhancement of Our Research
Joint angles are obtained for NAO throughinverse kinematics computation.
NAO performs the same motions as human, and memorize them.
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Imitation Learning
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Imitation Learning
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Intelligent NAO
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Intelligent NAO
play
0.1
run throw
playerball
0.20.05
0.0 0.0
…
player throwaplayer throwa ballaplayer runa
…
0.5
0.45
0.3
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Intelligent NAO
player throwsa balla
a throws
playerballa
throwing patternwalking patternrunning pattern
0.50.450.3
evaluation
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Implementation of the Intelligence into NAOs
Speech
Speech Recognition
Morphological Analysis
Associate motions
generate motions
[ Demonstration in the French Embassy, Octorber.2010]
sentence
utterance
words
motion symbol
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Summary
We participated in an Educational Partnership Program by Aldebaran Robotics, and start to use small humanoid robots for education in an undergraduate course. In our seminar, we aim to make sophisticated behaviors of humanoid robots, which is a long term challenge. We also used NAOs to enhance our research of intelligent robots.
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Acknowledgements
Thanks to Prof. Hiroshi Kaminaga, Prof. Satoru Kitago, Mr. Seiya Hamano, Mr. Kazuhiro Komoda, Miss. Marie Konoya, Mr. Yukako Hayashi, Mr. Kensho Hirasawa, Mr. Yuki Kataoka, Mr. Toshio Moriya, Mr. Ryotaro Hashimoto, Mr. Takuhiro Kaneko