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Doctoral Thesis
DOI
10.11606/T.18.2016.tde-04082016-142914
Document
Author
Full name
Silas Franco dos Reis Alves
Institute/School/College
Knowledge Area
Date of Defense
Published
São Carlos, 2016
Supervisor
Committee
Silva, Ivan Nunes da (President)
Bastos Filho, Teodiano Freire
Cliquet Junior, Alberto
Gudwin, Ricardo Ribeiro
Romero, Roseli Aparecida Francelin
Title in Portuguese
Arquitetura de controle inteligente para interação humano-robô
Keywords in Portuguese
Arquitetura de controle
Interação humano-robô
Robótica assistiva
Robótica móvel
Sistemas inteligentes
Abstract in Portuguese
Supondo-se que os robôs coexistirão conosco num futuro próximo, é então evidente a necessidade de Arquiteturas de Controle Inteligentes voltadas para a Interação Humano-Robô. Portanto, este trabalho desenvolveu uma Organização de Arquitetura de Controle Inteligente comportamental, cujo objetivo principal é permitir que o robô interaja com as pessoas de maneira intuitiva e que motive a colaboração entre pessoas e robôs. Para isso, um módulo emocional sintético, embasado na teoria bidimensional de emoções, foi integrado para promover a adaptação dos comportamentos do robô, implementados por Esquemas Motores, e a comunicação de seu estado interno de modo inteligível. Esta Organização subsidiou a implantação da Arquitetura de Controle em uma aplicação voltada para a área assistencial da saúde, consistindo, destarte, em um estudo de caso em robótica social assistiva como ferramenta auxiliar para educação especial. Os experimentos realizados demonstraram que a arquitetura de controle desenvolvida é capaz de atender aos requisitos da aplicação, conforme estipulado pelos especialistas consultados. Isto posto, esta tese contribui com o projeto de uma arquitetura de controle capaz de agir mediante a avaliação subjetiva baseada em crenças cognitivas das emoções, o desenvolvimento de um robô móvel de baixo-custo, e a elaboração do estudo de caso em educação especial.
Title in English
Control architecture for human-robot interaction
Keywords in English
Assistive robotics
Control architecture
Human-robot interaction
Intelligent systems
Mobile robotics
Abstract in English
Assuming that robots will coexist with humans in the near future, it is conspicuous the need of Intelligent Control Architectures suitable for Human-Robot Interaction. Henceforth, this research has developed a behavioral Control Architecture Organization, whose main purpose is to allow the intuitive interaction of robot and people, thus fostering the collaboration between them. To this end, a synthetic emotional module, based on the Circumplex emotion theory, promoted the adaptation of the robot behaviors, implemented using Motor Schema theory, and the communication of its internal state. This Organization supported the adoption of the Control Architecture into an assistive application, which consists of the case study of assistive social robots as an auxiliary tool for special education. The experiments have demonstrated that the developed control architecture was able to meet the requirements of the application, which were conceived according to the opinion of the consulted experts. Thereafter, this thesis contributes with the design of a control architecture that is able to act upon the subjective evaluation based on cognitive beliefs of emotions, the development of a low-cost mobile robot, and the development of the case study in special education.
 
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Silas.pdf (5.82 Mbytes)
Publishing Date
2016-08-05
 
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