Presentation of the paper "The Shape of Simon: Creative Design of a Humanoid Robot Shell" by Carla Diana and Dr. Andrea Thomaz, published in CHI2011. Simon is a socially aware robot platform currently under development at the Georgia Institute of Technology. The presentation was given in person by Carla on May 9, 2011.

2. The Shape of Simon CHI2011 Conference, Vancouver, BC May 9, 2011

3. IntroductionStarting point and precedents Establishing a vocabulary and aesthetic target Initial explorations Making it real: team collaboration Simon comes to life Reactions

4. Introduction

5. Hi! Introduction

6. Smart Design introduction Designing for people and their everyday lives.

7. Georgia Tech Socially Intelligent Machines Lab Introduction

8. Dr. Andrea Thomaz Socially Intelligent Machines Lab Introduction

9. The Simon Project Introduction

10. Starting point and precedents

11. Kismet, Cynthia Breazeal, MIT Starting point and precedents

12. The Leonardo Social Robot Project Starting point and precedents

13. Design observations from the Leonardo Machine Learning project Eyes are important as a natural and intuitive mechanism for HRI “Creature”-like offers better success than human-like because it sets appropriate expectations Hyperrealism in features, such a Leonardo’s fur, eyelashes, lips and finger pads can have a frightening effect (Leonardo was convincingly “gremlin”-like) A balance between machine aesthetics and human forms can help avoid the “uncanny valley” While Leo had over 30 degrees of freedom in the head and face, the ears were most often used for emotional and nonverbal expression A desirable feature set for the head would include: a rotating and pivoting head, movable eyes, top and bottom eyelids, a mouth, eyebrows and some expressive ear feature Key learnings Starting point and precedents

14. Initial constraints The desired feature set for the head was a rotating and pivoting head, movable eyes, top and bottom eyelids, a mouth, eyebrows and some expressive ear feature Overall proportions were predetermined by the Internal body mechanism constructed by Meka robotics and based on a previous mechanical design The robot would be non-ambulatory Its character would be friendly and inquisitive It should appear “young” to reinforce its role as a learner Designing a socially aware service robot Starting point and precedents

15. Initial constraints Starting point and precedents

16. Initial constraints Starting point and precedents

17. Establishing a vocabulary and aesthetic target

18. A survey of existing robot types Establishing a vocabulary

19. Primary characteristics Figure-like impression (forms that can be distinguished as head, face, body and limbs) Non-threatening forms Affordances that suggest multiple functions Simplified forms that avoid the suggestion of musculature or overly detailed anatomies Machine or appliance references to balance the creature semantics The “friendly doll” aesthetic Establishing a vocabulary

20. References: Sony partner robot Establishing a vocabulary

21. References: Frobo Fictional robot, Drexel University student Establishing a vocabulary

22. References: Marvin, Hitchiker’s Guide to the Glaxy Establishing a vocabulary

23. References: Megaman, toy figure Establishing a vocabulary

24. References: Munny vinyl toy Establishing a vocabulary

25. References: Toonami Tom Establishing a vocabulary

26. Observations from references and previous research The top of the head would have a covering of some sort, either a helmet, or a form that suggests hair Ears would be abstracted to appear as large appliance parts, perhaps antennae Eyes would be distinctive, as they are the focal point for the intended human-robot interaction Mouth and eyebrows would be used in addition to the eyes and ears in order to express emotion Proportions for the body-head size ratio, head-eye size ratio, and eye placement would be child-like Ideal characteristics Establishing a vocabulary

27. References Establishing a vocabulary

28. References Establishing a vocabulary

29. References Establishing a vocabulary

30. References Establishing a vocabulary

31. References Establishing a vocabulary

32. Head shape Establishing a vocabulary

33. Eye size Establishing a vocabulary

34. Eye placement Establishing a vocabulary

35. Ear shapes Establishing a vocabulary

36. Ear shapes Establishing a vocabulary

37. Initial explorations

38. Body types Defining proportions

39. Body types Defining proportions

40. Initial explorations Defining proportions

41. Initial explorations Defining proportions

42. Initial explorations Defining proportions

43. Initial explorations Defining proportions

44. Initial explorations Defining proportions

45. Head to body ratio Defining proportions

46. 3D sketch Defining proportions

47. Making it real: team collaboration

48. Eyeball mechanism Making it real: team collaboration

49. Iterations Making it real: team collaboration

50. Iterations Making it real: team collaboration

51. Iterations Making it real: team collaboration

52. Iterations Making it real: team collaboration

53. Iterations Making it real: team collaboration

54. Animating the design Making it real: team collaboration

55. Scaled models Making it real: team collaboration

56. Scaled models Making it real: team collaboration

57. Seamless eyebrow integration Making it real: team collaboration

58. Lip movement Making it real: team collaboration

59. Scaled models Making it real: team collaboration

60. Simon comes to life

61. Head construction Simon comes to life

62. Head construction Simon comes to life

63. Head construction Simon comes to life

64. Head construction Simon comes to life

65. Head construction Simon comes to life

66. Reactions

67. Head construction Simon comes to life

68. Simon at CHI2010 reactions

69. Simon’s gaze Reactions

70. Head construction Simon comes to life

71. Interacting with people Simon comes to life

72. “Cool”, “pretty life-like” “…amazed by it.” Regarding the robot’s gaze, “I was surprised at first but it made the interaction easier because I knew that he knew some of what I was saying” “What was amazing was that his movements felt like there was something in there learning and it wasn’t all just motors, metal in plastic. Something inherently felt good about interfacing with Simon versus[sic] a computer”. Nova, “Simon, the kinder gentler robot, wit a face that’s easy to love.” The Engadget technology blog has described Simon as “super cute” with a “head that will stop you in your tracks” What people are saying Reactions

73. Simon and Andrea Reactions

74. Simon and Andrea Reactions

75. Head construction Simon comes to life

76. Sophistication of motion–generating more lifelike and believable motion, such as including a library of motion variants Contingency detection across a variety of modalities – using a simple cue like “I see a person in front of me” to know when to start an interaction. Enables turn-taking behavior. Making Simon a natural and intuitive learner, so anyone could be able to teach it new tasks, studying ways that people teach Active learning–having the robot ask questions in order to build learning, rather than waiting for the human to initiate teaching What Simon has been up to Reactions

77. How will the additional facial features (eyebrows, lips) affect the human-robot interaction? Can the presence of body shells further enhance the robot’s approachability? How might color and material differences play a role in differentiating features? What kind of light vocabulary can be developed for the ear pod feedback? (Right now it indicates a moment of recognition) How can the sound of Simon’s voice match his physical features? Can different facial geometries imply different robot personalities? If we build a brand and social presence (such as a Facebook page) around Simon, will that deepen people’s emotional connection? Design questions moving forward Reactions

78. http://www.cc.gatech.edu/social-machines/publications.html athomaz@cc.gatech.edu Reactions For more information http://www.carladiana.com http://www.smartdesignworldwide.com carla@carladiana.com