Changes for page Humanoid Robot
Last modified by Pierre Bongrand on 2022/04/05 20:48
From version
15.2


edited by Pierre Bongrand
on 2022/04/01 04:09
on 2022/04/01 04:09
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To version
32.1


edited by Mathieu Jung-Muller
on 2022/04/03 14:51
on 2022/04/03 14:51
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... ... @@ -1,23 +1,60 @@ 1 - Forthis project on dementia, we chose to make us of a semi-humanoid robotnamely [[Pepper>>https://www.softbankrobotics.com/emea/en/pepper]].1 += Robot Choice = 2 2 3 -Pepper is a robot that allows easy communication robot/user, thanks to its ability kit (voice, tablet, cameras, humanoid form). 3 +We were offered to work with three robots: [[Pepper>>https://www.softbankrobotics.com/emea/en/pepper]], [[Nao>>https://www.softbankrobotics.com/emea/en/nao]] and [[Miro>>https://www.miro-e.com]]. 4 +As our main goal is to improve the quality of life of the patient with dementia by providing some some social support. We believe that the human size semi-humanoid form of Pepper and its capacity to communicate easily with humans are great comparative advantages to choose it. 4 4 5 - Moreover,using [[Choregraphe>>http://doc.aldebaran.com/2-4/software/choregraphe/choregraphe_overview.html]],Pepperis highly parameterizable, it isrelatively easy to expand the functionalities by programming new blocks, andprototypes can also be done quickly. This is very valuable as we expanded every weekour prototype to includenew features based on the content from the lecture.6 += Pepper Description = 6 6 7 - -----8 +Pepper is a robot that allows easy communication robot/user, thanks to its ability kit that includes: 8 8 10 +* Speech recognition 11 +* Voice 12 +* Tablet 13 +* Cameras 14 +* Humanoid form 9 9 10 -= ADD: GUI thoughts maybe a picture below? = 16 +[[image:Pepper-robot-sensors-18.jpg]] 17 +Figure 1: All sensors and actuators provided by Pepper 11 11 12 -Pepper is enhanced in human-machine interaction with itstablet and multiple sensors as can be seen on the imagebelow.19 += Pepper usage = 13 13 14 -We made full use of this feature in pepper. In assumption, we planned to make it possible for the HCP to modify the calendar/reminder 15 - features with touching the tablet. Besides, to enable Pepper moving around to take care of the PwDs with the help of sensors. Also, it's better to let Pepper communicate with the PwDs both by dictating and showing images, for the decline of recognition ability of PwDs. 21 +We tried to make full use of the sensors provided within Pepper. As we had limited amount of time we mainly focused on working with: the microphones, the speakers, the display and the arms movement of Pepper. 16 16 17 -For the actual implemented version, We've now finished coding to enable Pepper showing proper images when interacting with the PwDs, which can not only 18 -improve the efficiency of communication between them, but also makes PwDs fell more cared and comfortable. 23 +The actions we implemented for our prototype include: 19 19 20 -For more information on our use of Pepper to help people with dementia, please check the Robotic Partner tab (NEED REF). 25 +* Playing music 26 +* Listening and understanding the PwD 27 +* Speaking to the PwD 28 +* Displaying information on the tablet 29 +* Moving arms to convey message 21 21 31 +For the actual implemented version, we have enabled Pepper to show images about the current activity when interacting with the PwDs, which can not only improve the efficiency of communication between them, but also makes PwDs feel more cared. 22 22 23 -[[image:Pepper-robot-sensors-18.png]] 33 += Iterative Process = 34 + 35 +Through the course of the development of Pepper, we followed an iterative process of design where we programmed and re-programmed certain aspects to accommodate weekly feedback. This approach aided us in ameliorating existing functionality, while adding new features. The following is brief indication of how this iterative process looked for our development pipeline: 36 + 37 +1. Research overview of how Pepper works, and look into the Interactive Robotics platform and Choregraphe 38 +1. Make simple initial behaviours on Choregraphe (unrelated to our use cases) tested with the virtual robot 39 +1. Make some simple behaviours for our use cases tested with the virtual robot 40 +1. Review implemented behaviours using physical version of Pepper 41 +1. Make some adjustments and debug according to observed behaviours of previous iteration 42 +1. Add new behaviours and test once again with physical version of Pepper 43 +1. Test and improve the final behaviours! 44 + 45 +== PACT analysis == 46 + 47 + 48 +->need to add a bit of text 49 +**People** perform **activities** in specific **contexts** with **technologies**, which affect the situated activities, which set new user requirements. 50 + 51 +Using this method leads to a cyclic process of progression as can be seen on the image [1] below presented during the lecture. 52 + 53 +[[image:PACT.png||width="700" height="576"]] 54 + 55 +Moreover, using [[Choregraphe>>http://doc.aldebaran.com/2-4/software/choregraphe/choregraphe_overview.html]], Pepper is highly parameterizable, it is relatively easy to expand the functionalities by programming new blocks, and prototypes can also be done quickly. This is very valuable as we expanded every week our prototype to include new features based on the content from the lecture. 56 + 57 + 58 +For more information on our use of Pepper to help people with dementia, please check the [[Robotic Partner >>https://xwiki.ewi.tudelft.nl/xwiki/wiki/sce2022group04/view/Foundation/Human%20Factors/Robotic%20Partner/]] section. 59 + 60 +[1]: Benyon, David (2019). Designing User Experience: A Guide to HCI, UX and Interaction Design. Pearson UK.
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