The robot Golem-II+ is the latest service robot developed by the Golem Group. We design and construct domain independent service robots based on a theory of Human-Robot Communication centered in the interaction context, and the specification of Speech Acts protocols, which are named Dialogue Models (DMs).

1. HARDWARE
SOFTWARE
The robot Golem-II+ is the latest service robot
developed by the Golem Group.
We design and construct domain independent service
robots based on a theory of Human-Robot
Communication centered in the interaction context, and
the specification of Speech Acts protocols, which are
named Dialogue Models (DMs).
IOCA
- PeopleBot robotic base
- Dell Precision M4600
- QuickCam Pro 9000 Webcam
- Microsoft Kinect Camera x2
- Hokuyo UTM-30LX Laser
- Shure Base Omnidirectional microphones x3
- RODE VideoMic directional microphone
- M-Audio Fast Track Ultra external sound interface
- Infinity 3.5-Inch Two-Way loudspeakers x2
- LAIDETEC-IIMAS robotic arm x2
DMs are embedded in an Interaction-Oriented Cognitive Architecture
(IOCA) which coordinates perceptual and motor actions within the main
communication cycle. IOCA also includes a set of reactive behaviors that
allow the robot to respond directly, and a coordinator, which permits that
reactive behavior and inferential processes proceed smoothly in a
coordinated fashion. DMs and IOCA permit to model structured and
multimodal conversations between people and service robots in diverse
application domains. DMs are also defined and manipulated independently
of IOCA's modules which remain fixed among different application
domains and tasks.
GOLEM-II+
Departamento de Ciencias
de la Computación
GOLEM-II+
The Golem Group
Computer Science Department
Instituto de Investigaciones en Matemáticas Aplicadas y en Sistemas
Universidad Nacional Autónoma de México
http://golem.iimas.unam.mx
golem@turing.iimas.unam.mx
IOCA
InterpretationsExpectations
ActionProtocols
Modal
Codifications
Concrete
Actions
EXTERNAL REPRESENTATIONS OR THE WORLD
Rendering
Devices
Specification
Module
Coordinator
Dialogue Manager
Semantic Memory
Interpretation
Module
Recognition
Devices
Autonomous
Reactive Systems
IOCAPerceptual Memory
A full DM can be embedded within a situation. Situations, Expectations and
Actions can be defined parametrically as functions of the interaction
context. The next situation is determined by the current interpretation and
also by the task history.
During task execution the robot performs the action that is best met in the
situation. In case there is no expectation satisfied by the world, the robot is
"out of context" and performs a recovery protocol to place itself in context
again and establish the common ground.
TEAM MEMBERS
Luis Pineda (team leader), Ivan Meza, Caleb Rascón, Gibran Fuentes, Carlos
Gershenson, Mario Peña, Iván Sánchez, Mauricio Reyes, Hernando Ortega,
Arturo Rodríguez, Lisset Salinas, Joel Durán, Esther Venegas, Varinia Estrada
DIALOGUE MODELS
DMs are information states named "situations", which are defined in terms
of expectation and action pairs (E:A). A different set of expectations
determines a different situation.
Subordinate Dialogue Model
Temporal Occlusion
Si
c
start:hello
ε:start_button
Main Dialogue Model - Follow Me Test
Ri
continue:ε
Rot Rrl Rru
continue:εcontinue:εcontinue:ε
Rlm
fs
finish:goodbye
si
v1
n
see(N):see_you
ε:ε
v2
Rb
no_detect:dont_see_you
fs
continue
stop_gesture(N):dont_move
see(N):see_you_againocclusion(N):wait
occlusion(N):something_between
ε:ask_for_help
SOFTWARE LIBRARIES
JACK, PocketSphinx
OpenCV, OpenNI, MOPED
Sicstus Prolog
Festival TTS
Player/Stage and Gearbox
MODULE
Navigation
Dialogue Manager
Vision
Voice Recognition
Voice Synthesizer
Object Manipulation Roboplus
WordSpotting, GF grammarLanguage Interpretation
ABILITIES
PERCEPTION AND ACTION FUNCTIONALITY
Robot locates the third
party by the source of
sound with a percep-
tual scheme, rotates
and face him to attend
the interruption.
DISTINCTIVE FUNCTIONALITY:
ORIENTATION BY SOURCE OF SOUND
I'm attending someone
else. Please, wait. I'll be with
you in a minute.
Please, wait
Bring me the juice
Hi, Golem!
¿? Ok.
Thanks!
Sorry! You said juice, right?
Yes, please.
Robot and user are
engaged in a task
oriented conversation.
A third party interrupts
taking the conversatio-
nal initiative.
Robot records the
parameters of the inte-
rruption, accomplishes
the original task and
returnes to the third
party.
NAVIGATION
VISION
AUDIOLOCALIZATIONOBJECT MANIPULATION
Robotic orientation towards
speaker using 3 microphones
Image Triangle Array-Redundancy
OBJECT RECOGNITION
Object Model Recognized Object
FACE RECOGNITION
Examples of eigenfaces
PEOPLE TRACKING
AND GESTURE RECOGNITION
+ 4 degrees of freedom
+ Reach: 10-90cm
+ Hands with sensors
+ Openning to 30cm
+ Load: 500gr