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Barnabas Takacs,Klara Csizinszky,Daniele Mazzei,Lajos Simon 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
We introduce a novel evaluation methodology to establish psychometrically validated measures to objectively evaluate socially capable robots. Our methodology involves first creating a digital computer generated face model designed to replicate the facial expression space of the robot with the highest accuracy, and second, using this model to render test sequences, which are in turn analyzed with independent facial metrics software. We compared three different facial modelings techniques to approximate our robot"s face and achieved 98.86% accuracy in replicating the facial appearance as measured by facial metric software. This digital face model can now be used to create arbitrary expressions for interaction purposes and for a more detailed analysis of low-amplitude micro-expressions, which are critical for proper social communication with children in a virtual tutoring context. We argue that our methodology is a first step towards objectively assessing the believability of commercially available robots.
Barnabas Takacs,Gergely Richter,Klara Csizinszky,Daniele Mazzei,Lajos Simon 제어로봇시스템학회 2015 제어로봇시스템학회 국제학술대회 논문집 Vol.2015 No.10
We introduce a unified modular control architecture and virtual-reality evaluation framework to extend the use of socially capable humanoid robots. Our methodology is based on a unique gesture and facial expression representation module, called cascaded Temporal Disc Controllers (TDCs), that represents all emotional expressions, gestures and time-variant actions in a normalized mathematical space designed to accept high level control commands, while being independent of actual physical robot implementations. At the same time it also provides an underlying mechanism for avoiding repetitive behaviors and increases the “humanness” by minor random perturbations during the interaction process. Our implementation combines two available physical robots (Zeno, FACE) and their virtual representations with active perception in order to drive low- and high level reactive behaviors in support of interactive educational and pedagogical goals. Our photo-realistic representations were used in comparative evaluation studies and a low-cost Augmented-Reality interface was also developed to support seamless interaction in virtual space.