A 3D Simulator for a Social and Ludic Robotics Platform
Resumo
Espera-se que os robôs se tornem dispositivos onipresentes com a capacidade de transformar a vida das pessoas. Robôs Socialmente Assistivos (SARs - Socially Assistive Robots) podem fornecer assistência aos humanos por meio de estímulos durante o processo de interação. Este trabalho apresenta uma proposta de simulador 3D para uma plataforma de robótica social de código aberto e baixo custo que pode ser utilizada em aplicações educacionais e terapias em saúde. O robô físico possui elementos de comunicação verbal e não verbal e pode expressar emoções através dos olhos e da boca, através das cores dos LEDs em seu tórax e também através de expressões corporais por meio de poses e movimentos (danças). O simulador proposto é capaz de reproduzir essas capacidades de forma similar ao robô físico, servindo como ferramenta auxiliar no processo de ensino/aprendizado e testes dos scripts de interação desenvolvidos para o robô. O robô simulado pode ser controlado através do mecanismo publish/subscribe do protocolo MQTT, pois cada uma de suas funcionalidades foi associada a um tópico e a uma mensagem. Para servir de prova de conceito para o simulador proposto neste trabalho, foi apresentado um vídeo demonstrativo com ambos os robôs, na versão física e na versão virtual (simulada).Referências
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Gena, C., Mattutino, C., Maltese, W., Piazza, G., and Rizzello, E. (2021). Nao prm: an interactive and affective simulator of the nao robot. In 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), pages 727–734. IEEE.
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Mukhandi, M., Portugal, D., Pereira, S., and Couceiro, M. S. (2019). A novel solution for securing robot communications based on the mqtt protocol and ros. In 2019 IEEE/SICE International Symposium on System Integration (SII), pages 608–613. IEEE.
Perico, D. H., Homem, T. P., Almeida, A. C., Silva, I. J., Vilão, C. O., Ferreira, V. N., and Bianchi, R. A. (2016). A robot simulator based on the cross architecture for the development of cognitive robotics. In 2016 XIII Latin American robotics symposium and IV Brazilian robotics symposium (LARS/SBR), pages 317–322. IEEE.
Pot, E., Monceaux, J., Gelin, R., and Maisonnier, B. (2009). Choregraphe: a graphical tool for humanoid robot programming. In RO-MAN 2009-The 18th IEEE International Symposium on Robot and Human Interactive Communication, pages 46–51. IEEE.
Rocha, M., Cruz-Sandoval, D., Favela, J., and Muchaluat-Saade, D. C. (2022a). Evasim: a software simulator for the eva open-source robotics platform. In 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pages 714–721. IEEE.
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Rocha, M., Valentim, P., Barreto, F., Mitjans, A., Cruz-Sandoval, D., Favela, J., and Muchaluat-Saade, D. (2022b). Towards enhancing the multimodal interaction of a social robot to assist children with autism in emotion regulation. In International Conference on Pervasive Computing Technologies for Healthcare, pages 398–415. Springer.
Santos, L., Geminiani, A., Schydlo, P., Olivieri, I., Santos-Victor, J., and Pedrocchi, A. (2021). Design of a robotic coach for motor, social and cognitive skills training toward applications with asd children. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 29:1223–1232.
Truong, L. B., Kang, D.-B., Ji, S.-H., and Jeong, G.-M. (2011). A control algorithm for robot simulator in educational platform. In ICTC 2011, pages 735–736. IEEE.
Carpin, S., Lewis, M., Wang, J, Balakirsky, S., and Scrapper, C. (2007). Usarsim: a robot simulator for research and education. In Proceedings 2007 IEEE International Conference on Robotics and Automation, pages 1400–1405. IEEE.
Cruz-Sandoval, D. and Favela, J. (2019). A Conversational Robot to Conduct Therapeutic Interventions for Dementia. IEEE Pervasive Computing, 18(2):10–19.
de Lima, P. V. S., Bezerra, M. H. R., de Sousa Tavares, A. C., Júnior, J. R. F., Teixeira, J.M. X. N., Cajueiro, J. P. C., Melo, G. N., and Henriques, D. B. (2018). Improving early robotics education using a line-following robot simulator. In 2018 Latin American Robotic Symposium, 2018 Brazilian Symposium on Robotics (SBR) and 2018 Workshop on Robotics in Education (WRE), pages 547–553. IEEE.
Feil-Seifer, D. and Mataric, M. J. (2005). Defining socially assistive robotics. In 9th International Conference on Rehabilitation Robotics, 2005. ICORR 2005., pages 465–468. IEEE.
Gena, C., Mattutino, C., Maltese, W., Piazza, G., and Rizzello, E. (2021). Nao prm: an interactive and affective simulator of the nao robot. In 2021 30th IEEE International Conference on Robot & Human Interactive Communication (RO-MAN), pages 727–734. IEEE.
Gouaillier, D., Hugel, V., Blazevic, P., Kilner, C., Monceaux, J., Lafourcade, P., Marnier, B., Serre, J., and Maisonnier, B. (2009). Mechatronic design of nao humanoid. In 2009 IEEE international conference on robotics and automation, pages 769–774. IEEE.
Ishimura, T., Kato, T., Oda, K., and Ohashi, T. (2003). An open robot simulator environment. In Robot Soccer World Cup, pages 621–627. Springer.
Johal, W., Castellano, G., Tanaka, F., and Okita, S. (2018). Robots for learning.
Kumar, K. and Reel, P. S. (2011). Analysis of contemporary robotics simulators. In 2011 International Conference on Emerging Trends in Electrical and Computer Technology, pages 661–665. IEEE.
Kurniawan, O., Lee, N. T. S., Datta, S., Sockalingam, N., and Leong, P. K. (2018). Effectiveness of physical robot versus robot simulator in teaching introductory programming. In 2018 IEEE International Conference on Teaching, Assessment, and Learning for Engineering (TALE), pages 486–493. IEEE.
Mukhandi, M., Portugal, D., Pereira, S., and Couceiro, M. S. (2019). A novel solution for securing robot communications based on the mqtt protocol and ros. In 2019 IEEE/SICE International Symposium on System Integration (SII), pages 608–613. IEEE.
Perico, D. H., Homem, T. P., Almeida, A. C., Silva, I. J., Vilão, C. O., Ferreira, V. N., and Bianchi, R. A. (2016). A robot simulator based on the cross architecture for the development of cognitive robotics. In 2016 XIII Latin American robotics symposium and IV Brazilian robotics symposium (LARS/SBR), pages 317–322. IEEE.
Pot, E., Monceaux, J., Gelin, R., and Maisonnier, B. (2009). Choregraphe: a graphical tool for humanoid robot programming. In RO-MAN 2009-The 18th IEEE International Symposium on Robot and Human Interactive Communication, pages 46–51. IEEE.
Rocha, M., Cruz-Sandoval, D., Favela, J., and Muchaluat-Saade, D. C. (2022a). Evasim: a software simulator for the eva open-source robotics platform. In 2022 31st IEEE International Conference on Robot and Human Interactive Communication (RO-MAN), pages 714–721. IEEE.
Rocha, M. and Muchaluat-Saade, D. C. (2023). Friendly robot for education and healthcare: Fred. In Proceedings of LIQUE - Life Improvement in Quality by Ubiquitous Experiences Workshop, together with ACM IMX 2023.
Rocha, M., Valentim, P., Barreto, F., Mitjans, A., Cruz-Sandoval, D., Favela, J., and Muchaluat-Saade, D. (2022b). Towards enhancing the multimodal interaction of a social robot to assist children with autism in emotion regulation. In International Conference on Pervasive Computing Technologies for Healthcare, pages 398–415. Springer.
Santos, L., Geminiani, A., Schydlo, P., Olivieri, I., Santos-Victor, J., and Pedrocchi, A. (2021). Design of a robotic coach for motor, social and cognitive skills training toward applications with asd children. IEEE Transactions on Neural Systems and Rehabilitation Engineering, 29:1223–1232.
Truong, L. B., Kang, D.-B., Ji, S.-H., and Jeong, G.-M. (2011). A control algorithm for robot simulator in educational platform. In ICTC 2011, pages 735–736. IEEE.
Publicado
06/11/2023
Como Citar
ROCHA, Marcelo Marques da; CLUA, Esteban; MUCHALUAT-SAADE, Débora Christina.
A 3D Simulator for a Social and Ludic Robotics Platform. In: TRILHA DE EDUCAÇÃO – ARTIGOS COMPLETOS - SIMPÓSIO BRASILEIRO DE JOGOS E ENTRETENIMENTO DIGITAL (SBGAMES), 22. , 2023, Rio Grande/RS.
Anais [...].
Porto Alegre: Sociedade Brasileira de Computação,
2023
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p. 466-477.
DOI: https://doi.org/10.5753/sbgames_estendido.2023.234175.
