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MIN Faculty Department of Informatics Brain-Based Control System for Animal-Like Companion Robots An Analysis Brenda Vasiljevic University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Department of Informatics

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MIN Faculty Department of Informatics

Brain-Based Control System for Animal-Like Companion Robots

An Analysis Brenda Vasiljevic

University of Hamburg Faculty of Mathematics, Informatics and Natural Sciences Department of Informatics Technical Aspects of Multimodal Systems

07. January 2019
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Outline

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

1. An Introduction to Companion Robots
2. The Miro Robot
3. Brain-Based Control System

Internal States Social Patterns Generator Spatial Behavior

4. Discussion
5. Conclusion
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Companion Robots

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

What are they? Who are they for? Some fields of applicability...

◮ Socialization ◮ Health Monitoring ◮ Rehabilitation ◮ Therapy ◮ Education ◮ Entertainment

Fig. 1: "Max" Robot [3]
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Animal-like Companion Robots

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Animal-Assisted Activities Advantages

◮ Calming effect ◮ Reduces depression ◮ Triggers communication

Disadvantages

◮ Effort ◮ Diseases ◮ Risk of aggressive behavior

Fig. 2: "Paro" by PARO Robots
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The Miro Robot

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Fig. 3: "Miro" by Consequential Robotics

Video

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Brain-Based Control System

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Brain structures

◮ Spinal cord - Reflexes and hardware abstraction ◮ Brainstem - Simple, "instinctual" behavior ◮ Forebrain - Complex, "conscious" behavior ◮ *Cerebellum - Sensory and motor filtering and learning

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Brain-Based Control System

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Characteristics

◮ Four processing levels, three

n-board

◮ Fast and simple / slow and

sophisticated

◮ Accessibility is higher at the

top of the processing stack

◮ Disassociation

Fig. 3: Processing Stack
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Overview

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Spinal Cord

◮ Signal clean-up ◮ Cliff reflex ◮ Freeze reflex

Brainstem

◮ Management of Internal State (Affect) ◮ Social Pattern Generation ◮ Spatial Behavior ◮ Additional Functions

Forebrain

◮ Programmable

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Affect

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Affect The circumplex model of affect Valence/Arousal Stimuli: touch, sounds, light levels and time of day

Fig. 4: Circumplex model of affect [6]
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Social Pattern Generator

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Social Pattern Generator (SPG) Levels of valence and arousal will have an impact on...

◮ Voice ◮ Speed of motion ◮ Color of led lights ◮ Movements of tail, ears, eyelids, and neck

Fig. 5: Miro expressing its internal state through posture [1]
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Spatial Behavior

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Step-by-step

1. Topographic salience map: movement and sound + intensity
2. Hard-coded filters
3. Behavior plan

◮ Orient ◮ Avert ◮ Approach ◮ Flee

4. Plan selection with model of the Basal Ganglia

◮ Clean selection ◮ Partial selection ◮ Distorted selection ◮ No selection

5. Motor pattern generation (MPG)
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Additional Sub-systems

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Other Function

◮ Sleep dynamics ◮ Estimation of self-configuration ◮ Gating of reafferent noise

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Control Architecture

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Fig. 6: Control Architecture of the Miro
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Contributions

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Improvements compared to state of the art in animal-like companion robots Paro and AIBO:

◮ Biomimetic division of responsibilities ◮ Two-dimensional versus one-dimensional states ◮ Possibly-hierarchical organization ◮ Basal ganglia as an action selection mechanism ◮ Conflicting behavioral plans (non-random unpredictability)

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Advantages and Disadvantages

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Advantages Disadvantages Biomimetic Complex Life-like Unpredictable Modular Unclear States Fast Reflexes Slow Decisions Scalable

Table 1: Advatages and Disadvantages of the Brain-Based Control System

Trade-off between biomimicry and simplicity Benefits have not been proven

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Potential Applicability

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Suitable for...

◮ Specific kinds of therapy and rehabilitation ◮ Health/emergency monitoring ◮ Education and Entertainment ◮ Studying the brain

Not ideal for...

◮ Task-driven robots ◮ Any goal that can be performed with a simpler architecture

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Conclusion

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

It introduces interesting biology-inspired mechanisms It’s a powerful research tool A complex solution fit for complex problems However... Benefits so far are largely theoretical

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The End

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion

Any questions?

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References

An Introduction to Companion Robots The Miro Robot Brain-Based Control System Discussion Conclusion [1] Emily C. Collins, Tony J. Prescott, and Ben Mitchinson. Saying It with Light: A Pilot Study of Affective Communication Using the MIRO Robot. In Stuart P. Wilson, , Paul F.M.J. Verschure, , Anna Mura, , and Tony J. Prescott, editors, Biomimetic and Biohybrid Systems, pages 243–255. Springer International Publishing, 2015. [2] Masahiro Fujita. AIBO: Toward the Era of Digital Creatures. The International Journal of Robotics Research, 20(10):781–794, 10 2001. [3] Horst Michael Gross, Steffen Mueller, Christof Schroeter, Michael Volkhardt, Andrea Scheidig, Klaus Debes, Katja Richter, and Nicola Doering. Robot companion for domestic health assistance: Implementation, test and case study under everyday conditions in private apartments. IEEE International Conference on Intelligent Robots and Systems, 2015-Decem:5992–5999, 2015. [4] Ben Mitchinson and Tony J. Prescott. MIRO: A robot “Mammal” with a biomimetic brain-based control system. In Lecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics), volume 9793, pages 179–191, 2016. [5] Wendy Moyle, Cindy Jones, Billy Sung, Marguerite Bramble, Siobhan O’Dwyer, Michael Blumenstein, and Vladimir Estivill-Castro. What Effect Does an Animal Robot Called CuDDler Have on the Engagement and Emotional Response of Older People with Dementia? A Pilot Feasibility Study. International Journal of Social Robotics, 8(1):145–156, 2016. [6] Jonathan Posner, James A. Russell, and Bradley S. Peterson. The circumplex model of affect: An integrative approach to affective neuroscience, cognitive development, and psychopathology. Development and Psychopathology, 17(03):715–734, 9 2005. [7] Tony J. Prescott, Fernando M. Montes González, Kevin Gurney, Mark D. Humphries, and Peter Redgrave. A robot model of the basal ganglia: Behavior and intrinsic processing. Neural Networks, 19(1):31–61, 2006. [8] Kazuyoshi Wada, Takanori Shibata, Tomoko Saito, and Kazuo Tanie. Effects of robot-assisted activity for elderly people and nurses at a day service center. Proceedings of the IEEE, 92(11):1780–1788, 2004.

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