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Changes for page Humanoid Robot

Last modified by Pierre Bongrand on 2022/04/05 20:48
From version Icon 29.1 Icon
edited by Sneha Lodha
on 2022/04/03 13:12
Change comment: There is no comment for this version
To version Icon 34.1 Icon
edited by Mathieu Jung-Muller
on 2022/04/03 14:53
Change comment: There is no comment for this version

Summary

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1 -XWiki.snehalodha
1 +XWiki.Mathieu
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1 1  = Robot Choice =
2 +
2 2  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]].
3 -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 +As our main goal is to improve the quality of life of the patient with dementia by providing 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 5  = Pepper Description =
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6 6  Pepper is a robot that allows easy communication robot/user, thanks to its ability kit that includes:
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7 7  * Speech recognition
8 8  * Voice
9 9  * Tablet
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14 14  Figure 1: All sensors and actuators provided by Pepper
15 15  
16 16  = Pepper usage =
17 -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.
18 18  
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 tablet display and the arms movement of Pepper.
22 +
19 19  The actions we implemented for our prototype include:
24 +
20 20  * Playing music
21 21  * Listening and understanding the PwD
22 22  * Speaking to the PwD
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26 26  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.
27 27  
28 28  = Iterative Process =
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29 29  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:
30 -1. Research overview of how Pepper works, and look into the interactive robotics platform and Choregraphe
31 -2. Use the virtual version of Pepper on Choregraphe to make some initial behaviors (based off usecases)
32 -3. Review implemented behaviors using physical version of Pepper
33 -4. Make some adjustments and debug according to observed behaviors of previous iteration
34 -5. Add new behaviors and test once again with physical version of Pepper
35 -6. Test and improve the final behaviors!
36 36  
37 -== PACT analysis ==
38 -->need to add a bit of text
37 +1. Perform a 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 +
39 39  **People** perform **activities** in specific **contexts** with **technologies**, which affect the situated activities, which set new user requirements.
40 40  
41 41  Using this method leads to a cyclic process of progression as can be seen on the image [1] below presented during the lecture.
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42 42  
43 43  [[image:PACT.png||width="700" height="576"]]
44 44  
45 -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.
53 +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 lectures.
46 46  
47 47  
48 48  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.