Archive for October 2009
Oct/09
27
Week 2 – 4D exploration towards end-user programming
0 Comments | Posted by Rob in Ideas, Prototypes
In the second series of exploration iterations, I started to create the WYSIWYG functionality again: allow users to directly program the robot to behave like they want. As a platform, Glowbots (REF) were used, robots with a LED display on top of them. Creating direct signs that directly manipulate/indicate the robot’s behaviour was the goal again.
Eventually, simple shapes were developed that could be placed over the robot: squares, circles, triangles and lines. The robot would then display this shape on the LEDs. When the shape was rotated, the displayed shape would start to rotate as well. Empty robots placed near a shaped robot would copy the behaviour, allowing multiple displays to be programmed. Finally, a ‘blocking’ shape would reset the robot again.
The coupling between sign and behaviour is obvious here: programming of different shapes is simple and straight forward. The interpretation of the signs is simple as well; only simple behaviour can be programmed. This exploration already shows the complication and challenge of more complex behaviour: the ‘copying’ behaviour has no sign at the moment. How could it be made more clear that two shapes copy each other? If this line of reasoning is continued, the real challenge becomes visible: programming complex behaviour using these clear, physical and direct shapes. How would an ‘if-then’ situation be handled, for example? That is the goal of the next exploration: using this platform of Glowbots to explore signs and complex behaviour.
A first attempt, and first part of, my vision on product intelligence, how this leads to end-user programming and actDresses, and the justification for my explorative study and endgoal.
Download it here
Following my initial explorations, I moved on to some 4D sketching: low-fidelity prototypes that allowed quick user evaluation, and gave me the chance to become familiar with the platforms that are used here as well.
E-puck robots are little robots with a lot of sensors that can drive around, make sound and make light. Easily programmable in C, they allow quick prototyping and exploration. My goal again: explore how direct manipulation can be used to influence the robot’s behaviour. Using my previous ‘analysis’, I created the following problem space:
| Direct Manipulation / Influencing behaviour | Sensors | Actuators | Configuration |
|---|---|---|---|
| Guiding | |||
| Cooking | |||
| Aiming | |||
| Stating |
For all 12 combinations, different sorts of influencing behaviour were created. Eventually, three robots have been programmed, in combination with a puzzle. For each of the robots, the created accessories had to be used to program the robot so it would succeed in the puzzle.
1: guiding + sensors: this robot uses four sensors (left, right, front, back) to detect proximity. If something is nearby, the robot will drive in the opposite direction. This way, by using gestures, the robot can be guided in a certain direction. Using the accessoires, it is possible to cover a sensor, making the robot blind on that site; this will allow the robot to move past obstacles.
2: cooking + actuators: this robot has no sensors, and all it does is moving in a straight line. By using a wire to attach to the robot and a series of poles, the robot can be programmed to drive a certain pattern; for example, just connecting the wire to one pole will make the robot drive in circles.
3: aiming+ configuration: this robot has no sensors, and only drives in a straight line. It’s configuration can be changed by adding a wooden stick; this way, certain paths become inaccessible, while driving behaviour changes. For example, when a small obstacle is detected, the robot will drive around and towards it.
Eventually, some quick user evaluations & discussion with my coaches Ylva Fernaeus and Mattias Jacobsson gave me new insights about the signifier-signified relation: the sign that indicates the behaviour of the robot, the user’s interpretation of both the sign and the actions it provokes, and the general direction to continue in.
In order to get a grasp on actDresses, robots, intelligence, and everything surrounding it, I started with some quick exploration.
My goal was to explore how you can influence the behaviour of a robot, by using physical and direct adaptations to the appearance of the robot. After locking myself in the workshop for half a day, a series of small little ‘robots’ with accessories had emerged. Robots with blindfolds, movable ear-sensors and attachable sails are just a few of the examples.
After analysing and discussing these first explorations, I created the following ’structure’:
Direct manipulation
- altering sensors -> alter ‘handicap‘ of robot -> alter behaviour
- altering actuators -> alter ‘degrees of freedom‘ of robot -> alter behaviour
- altering configuration -> alter ‘capabilities‘ of robot -> alter behaviour
If we look at the examples, it is clear that direct manipulation is key here: one physically directly alters the robot in order to physically directly alter the behaviour.
direct manipulation of the robot = direct manipulation of the behaviour
robot = behaviour
signifier = robot
signified = behaviour
signifier = signified
signifier = signified = robot = behaviour
Influencing behaviour
There are four levels of influencing behaviour, when telling a robot what to do
- guiding: giving commands at every step
- cooking: giving a list of directions that the robot has to follow
- aiming: giving an aim that the robot has to fulfill
- stating: giving a certain behavioral state for the robot
Publicity
Commands or programming that is given to a robot, can be visualised on three levels
- public
- semi-public
- private
Day 1, week 1, start of the internship. I’ll be working on actDresses… clothes or accessories for robots, in order to change behaviour.
Let’s start with a little internet search, see what exists, what I like or dislike about it, and what I can use for inspiration.
The result:
Today, I started my internship at the Mobile Life Centre in Stockholm.
As part of my M2.1 block, this 12 week internship allows me to focus on intelligence, robots and end-user programming, while experiencing a different way of thinking, working and living at the same time.
The project I will be working on is actDresses: changing the appearance of robots in order to change their behaviour. Feed-back and feed-forward at the same time, incorporated in tags, wearables, or perhaps even robot clothes.
This blog will show my ideas, concepts, prototypes and results, complemented with my wandering thoughts and some process overview. A tool for reflection, feedback, overview and archiving.
To be expanded!