Experimenting with Robot
Emotions: Trials and
Tribulations
Lilia Moshkina
Georgia Institute of Technology
Mobile Robot Lab
HRI Young Researchers Workshop 2006
Why Robot Emotions?
A Wider View: Affect
= pertaining to or concerned with emotions
A mechanism that allows flexible adaptation to
environment and increases survival
In Robots
Enhances general behavior
Transforms into socially interactive companions
In People
Performs an expressive and communicative function
Facilitates understanding and interaction between
people and robots
TAME framework:
Traits, Attitudes, Moods and Emotions
Perceptual Input;
Current State
Behavioral
Parameters
Motor Vector
Behavioral Assemblage
TAME Module
Active Behaviors
Affective State
Behavior 1
Behavior …
Behavior n
Perceptual Module
ROBOT
Disposition
Traits – Big Five
•Neuroticism
•Extraversion
•Openness
•Agreeableness
•Conscientiousness
Affective Attitudes
Emotion Component
Mood Component
Behavior Coordination
Environment
Exploratory Experimental Study
Overall goal: to obtain insights into
people’s attitude to affect in robots and to
explore ways of assessing affect in robots
Study:
Robot as a pet and protector scenario
Aibo ERS 210A – Sony entertainment robot
Longitudinal study – 4 thirty-minute sessions
to allow the subjects to bond with the robot
A new task for the participant to perform was
introduced at each session, and the last
session was cumulative.
20 participants – 10 male and 10 female
Study Design
Independent variable: presence of affect
No Affect vs. Affect Conditions
Affect condition:
personality traits: high on openness,
agreeableness, and extraversion
emotions: interest, happiness, anger, fear
Dependent variables:
Pleasantness of interaction
Ease of interaction
Positive/negative mood
Metrics:
Introspection (questionnaires)
Observation (video analysis)
Tasks
Follow the ball; kick the ball
Participant asks the dog to follow a ball
And/or to kick it when close
Come to me; Follow me
Participant asks the dog to move towards
him/her and stop when close or follow
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