Hyoung-Rock Kim

Designing a human-robot interaction framework for home service robot

This paper presents a human-robot interaction framework that outlines a general structure of future home service robots that are expected to assist humans in their home-based daily activities. We describe three interaction modules - multimodal, cognitive, and emotional interaction modules. Each module takes a different role in the process of human robot interaction. The purpose of multi-modal interaction is to make the interaction convenient for the human, the cognitive interaction is for cooperative sharing of tasks, and the emotional interaction is to maintain a close relationship. The general concept for the systematical software integration and the relationships among the three modules are described.

Computational Model of Emotion Generation for Human---Robot Interaction Based on the Cognitive Appraisal Theory

Interactions between humans and service robots are more natural when emotions can be synthesized in those robots. Cognitive appraisal theory of emotions provides a theoretical basis for designing artificial emotion generation systems for robots. Computational algorithms to implement the cognitive appraisal theory were proposed in this research. The algorithms were based on a probabilistic description about the world. The proposed model was applied to a sample of interactive tasks, and the robot’s emotions during the task execution can lead to a more positive human–robot interaction experience.

Emotion Interaction System for a Service Robot

This paper introduces an emotion interaction system for a service robot. The purpose of emotion interaction systems in service robots is to make people feel that the robot is not a mere machine, but reliable living assistant in the home. The emotion interaction system is composed of the emotion recognition, generation, and expression systems. A users emotion is recognized by multi-modality, such as voice, dialogue, and touch. The robots emotion is generated according to a psychological theory about emotion: OCC (Ortony, Clore, and Collins) model, which focuses on the users emotional state and the information about environment and the robot itself. The generated emotion is expressed by facial expression, gesture, and the musical sound of the robot. Because the proposed system is composed of all the three components that are necessary for a full emotional interaction cycle, it can be implemented in the real robot system and be tested. Even though the multi- modality in emotion recognition and expression is still in its rudimentary stages, the proposed system is shown to be extremely useful in service robot applications. Furthermore, the proposed framework can be a cornerstone for the design of emotion interaction and generation systems for robots.

Human-robot cooperation strategy for interactive robot soccer by fuzzy Q-learning

This paper presents a learning cooperation strategy based on fuzzy Q-learning in the interactive robot soccer game. The interactive robot soccer game bas been developed to let humans join in the game dynamically and entertain them more. Accordingly, cooperation strategy between humans and autonomous robots is very important for making the game more realistic. Autonomous robots move to their destination depending on the current positions of other robots and the ball. These destinations based on situation will be learned with the fuzzy Q-learning method through playing the game with human operators. In order to evaluate the usefulness of the proposed strategy for the cooperation between humans and robots, the simulation with a modeled human operator and the game with real human operators have been carried out.

Emotional Exchange of a Socially Interactive Robot

This paper presents an emotional exchange framework for a socially interactive robot. The purpose of emotional exchange in social interaction between a robot and people is to make people feel that the robot is a believable living assistant, not a mere machine for information translation. Our emotional exchange framework is composed of the emotion recognition, generation, and expression systems. A users emotion is recognized by multi-modality such as voice, dialogue, and touch. The robots emotion is generated according to a psychological theory about cognitive emotions caused by the social interaction within people. Furthermore, the emotion intensity is regulated by the loyalty level of a robot to various users. The generated emotion is dynamically expressed by facial expression, gesture, and the musical sound of the robot. The proposed system, which is composed of all the three components that are necessary for a full emotional interaction cycle, is implemented in the real robot system and tested. The proposed framework can be a cornerstone for the design of emotion interaction and generation systems for robots.