Service Robot Design and Construction

Solutions are integrated into multiple lines of research (listed below), in a transdisciplinary effort, for the development of service robots. There have been several iterations of service robots, among which are: Golem, Guess the Card Module (currently residing in the Universum Museum) and Golem-II+. The latter has had a meteoric career in national and international competitions in the league of RoboCup@Home, which is a good assessment framework for products developed in the laboratory.

The following topics are investigated:

For more information, please go to the Golem Group's website.

      

Precursor Projects:

The DIME Project

The DIME Project

In this Project we develop models for the representation and interpretation of spoken expressions that occur in dialogues oriented to the solution of simple tasks between a human-user and a computational agent, the so-called “practical dialogues”. In particular, we design and implement “dialogue models” for the representation of practical dialogues, as well as their interpreter programs (i.e. dialogue managers). These models are used in the current version of the robot Golem, which is capable of sustaining a simple conversation with a human-user in spoken Spanish. The DIME-DAMSL scheme for the analysis of practical dialogues was also developed in the context of this project, and we plan to develop a dialogue manager that follows the guidelines of this scheme. We also study the relation between intonation and intention of speech acts. The empirical base of this investigation is the DIME Corpus, which was also developed in the context of this project.
Speech Recognition in Spanish

Speech Recognition in Spanish

In this line a platform for the creation of speech recognition systems for Mexican Spanish is developed. The platform is based on the Corpus DIMEx100 and the Sphinx tool kit; this resource consists on a database of spoken sentences with their corresponding phonetic analysis. The corpus was designed, compiled and analyzed in the context of the project. The corpus is being applied to the creation of acoustic models and pronunciation dictionaries for the speech recognition systems developed in the context of the project. The resource is also useful for studies on computational phonetics. The speech recognition system used by the robot Golem was developed in this platform.
Diagrammatic Reasoning

Diagrammatic Reasoning

In this project we investigate the representation of knowledge expressed through diagrams; we also investigate on the synthesis and proof of geometric and arithmetic theorems that have a diagrammatic representation. For this purpose we develop geometric representational languages with their corresponding interpreter programs, as well as AI programs for modeling the synthetic and proof process for this kind of concepts. In this line we develop the Project Pythagoras.
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The Robot Golem

The Robot Golem

In this project, the Spanish speech recognition technology and the DIME scheme for modeling practical dialogues are integrated in a mobile robot platform: The robot Golem. This robot is able to guide a poster session about the research projects developed at the Computer Science Department at IIMAS, UNAM; for this purpose it is capable of sustaining a simple conversation in which the robot can move besides a requested poster and explain it in spoken Spanish. The explanation is supported by other modalities like texts, images and videos. We are currently working on extending Golem's linguistic capabilities; we also plan to provide the robot with monocular and binocular vision capabilities (object & gesture recognition, and navigation with obstacle avoidance) coordinated with its linguistic behavior.