Socially Intel. Agents Creating Rels. with Comp. & Robots - Dautenhahn et al (Eds) Part 1 potx

SOCIALLY INTELLIGENT AGENTS
Creating Relationships with
Computers and Robots
MULTIAGENT SYSTEMS,
ARTIFICIAL SOCIETIES,
AND SIMULATED ORGANIZATIONS
International Book Series
Series Editor: Gerhard Weiss
Technische Universität München
Editorial Board:
Kathleen M. Carley, Carnegie Mellon University, PA, USA
Yves Demazeau, CNRS Laboratoire LEIBNIZ, France
Ed Durfee, University of Michigan, USA
Les Gasser, University of Illinois at Urbana-Champaign, IL, USA
Nigel Gilbert, University of Surrey, United Kingdom
Michael Huhns, University of South Carolina, SC, USA
Nick Jennings, University of Southampton, UK
Victor Lesser, University of Massachusetts, MA, USA
Katia Sycara, Carnegie Mellon University, PA, USA
Gerhard Weiss, Technische Universität München, Germany (Series Editor)
Michael Wooldridge, University of Liverpool, United Kingdom
Books in the Series:
CONFLICTING AGENTS: Conflict Management in Multi-Agent
Systems, edited by Catherine Tessier, Laurent Chaudron and Heinz-Jürgen
Müller, ISBN: 0-7923-7210-7
SOCIAL ORDER IN MULTIAGENT SYSTEMS, edited by
Rosaria Conte and Chrysanthos Dellarocas, ISBN: 0-7923-7450-9
CONCEPTUAL MODELLING OF MULTI-AGENT
SYSTEMS: The CoMoMAS Engineering Environment, by Norbert
Glaser, ISBN: 1-4020-7061-6

SOCIALLY INTELLIGENT AGENTS
Creating Relationships with
Computers and Robots
Edited by
Kerstin Dautenhahn
University of Hertfordshire
Alan H. Bond
California Institute of Technology
Lola Cañamero
University of Hertfordshire
Bruce Edmonds
Manchester Metropolitan University
KLUWER ACADEMIC PUBLISHERS
Boston / Dordrecht / London
Print ISBN: 1-4020-7057-8
©2002 Kluwer Academic Publishers
New York, Boston, Dordrecht, London, Moscow
Print version ©2002 Kluwer Academic Publishers
Boston
All rights reserved
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mechanical, recording, or otherwise, without written consent from the Publisher.
Created in the United States of America
Visit Kluwer Online at:
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eBook ISBN: 0-306-47373-9
Contents
Contributing Authors ix
1
Socially Intelligent Agents: Creating Relationships with Computers and

Robots
1
Kerstin Dautenhahn, Alan Bond, Lola Cañamero and Bruce Edmonds
2
Understanding Social Intelligence
21
Per Persson, Jarmo Laaksolahti and Peter Lönnqvist
3
Modeling Social Relationship: An Agent Architecture for
Voluntary Mutual Control
29
Alan H. Bond
4
Developing Agents Who can Relate to Us: Putting Agents in Our Loop
via Situated Self-Creation
37
Bruce Edmonds
5
Party Hosts and Tour Guides: Using Nonverbal Social Cues in the Design
of Interface Agents to Support Human-Human Social Interaction
45
Katherine Isbister
6
Increasing SIA Architecture Realism by Modeling and Adapting to Af-
fect and Personality
53
Eva Hudlicka
7
Cooperative Interface Agents
61

Sebastiano Pizzutilo, Berardina De Carolis and Fiorella de Rosis
8
Playing the Emotion Game with Feelix: What Can a LEGO Robot Tell
Us about Emotion?
69
Lola Cañamero
vi Socially Intelligent Agents
9
Creating Emotion Recognition Agents for Speech Signal
77
Valery A. Petrushin
10
Social Intelligence for Computers: Making Artificial Entities Creative in
their Interactions
85
Juliette Rouchier
11
EgoChat Agent: A Talking Virtualized Agent that Supports Community
Knowledge Creation
93
Hidekazu Kubota and Toyoaki Nishida
12
Electric Elves: Adjustable Autonomy in Real-World Multi-Agent Environments
101
David V. Pynadath and Milind Tambe
13
Building Empirically Plausible Multi-Agent Systems: A Case Study of
Innovation Diffusion
109
Edmund Chattoe

14
Robotic Playmates: Analysing Interactive Competencies of
Children with Autism Playing with a Mobile Robot
117
Kerstin Dautenhahn, Iain Werry, John Rae, Paul Dickerson, Penny Stribling,
Bernard Ogden
15
Mobile Robotic Toys and Autism: Observations of Interaction
125
François Michaud and Catherine Théberge-Turmel
16
Affective Social Quest: Emotion Recognition Therapy for Autistic Children
133
Katharine Blocher and Rosalind W. Picard
17
Pedagogical Soap: Socially Intelligent Agents for Interactive Drama
141
Stacy C. Marsella
18
Designing Sociable Machines: Lessons Learned
149
Cynthia Breazeal
19
Infanoid: A Babybot that Explores the Social Environment
157
Hideki Kozima
20
Play, Dreams and Imitation in Robota
165
Aude Billard

Contents vii
21
Experiences with Sparky, a Social Robot
173
Mark Scheeff, John Pinto, Kris Rahardja, Scott Snibbe and Robert Tow
22
Socially Situated Planning
181
Jonathan Gratch
23
Designing for Interaction: Creating and Evaluating an Empathic Ambi-
ence in Computer Integrated Learning Environments
189
Bridget Cooper and Paul Brna
24
Me, My Character and the Others
197
Isabel Machado and Ana Paiva
25
From Pets to Storyrooms: Constructive Storytelling Systems
Designed with Children, for Children
205
Jaime Montemayor, Allison Druin, and James Hendler
26
Socially Intelligent Agents in Educational Games
213
Cristina Conati and Maria Klawe
27
Towards Integrating Plot and Character for Interactive Drama
221

Michael Mateas and Andrew Stern
28
The Cooperative Contract in Interactive Entertainment
229
R. Michael Young
29
Perceptions of Self in Art and Intelligent Agents
235
Nell Tenhaaf
30
Multi-Agent Contract Negotiation: Knowledge and Computation Complexities
243
Peyman Faratin
31
Challenges for Agent-Based Social Simulation of Multilateral
Negotiation
251
Scott Moss
32
Enabling Open Agent Institutions
259
Juan A. Rodríguez-Aguilar and Carles Sierra
viii Socially Intelligent Agents
33
Embodied Conversational Agents in E-Commerce Applications 267
Helen McBreen
Index 275
Contributing Authors
Aude Billard
Computer Science Department, University of Southern California, HNB, 3641

Wyatt Way, Los Angeles 90089, USA.
Katharine Blocher
Formerly of Massachusetts Institute of Technology, Media Laboratory, 4615
Huron Ave., San Diego, CA 92117, USA.
Alan H. Bond
California Institute of Technology, Department of Computer Science, Mailstop
256-80, Pasadena, CA 91125, USA.
Cynthia Breazeal
The Media Laboratory, Massachusetts Institute of Technology, 77 Massachusetts
Ave., NE18-5FL, Cambridge, MA 02139-4307, USA.

Paul Brna
Computer Based Learning Unit, University of Leeds, Leeds LS2 9JT, United
Kingdom.
Lola Cañamero
Adaptive Systems Research Group, Department of Computer Science, Univer-
sity of Hertfordshire, College Lane, Hatfield, Herts AL10 9AB, United King-
dom.
x Socially Intelligent Agents
Edmund Chattoe
University of Oxford, Department of Sociology, Littlegate House, St Ebbes,
Oxford, OX1 1PT, United Kingdom.

Cristina Conati
Department of Computer Science, University of British Columbia, 2366 Main
Mall, Vancouver, B.C. Canada V6T 1Z4.
Bridget Cooper
Computer Based Learning Unit, University of Leeds, Leeds LS2 9JT, United
Kingdom.
Kerstin Dautenhahn

Adaptive Systems Research Group, Department of Computer Science, Univer-
sity of Hertfordshire, College Lane, Hatfield, Herts AL10 9AB, United King-
dom.
Berardina Nadja De Carolis
Intelligent Interfaces, Department of Informatics, University of Bari, Via Orabo-
na 4, 70126 Bari, Italy.
Fiorella de Rosis
Intelligent Interfaces, Department of Informatics, University of Bari, Via Orabo-
na 4, 70126 Bari, Italy.
Paul Dickerson
University of Surrey Roehampton, School of Psychology and Counselling,
Whitelands College, West Hill, London, SW15 3SN, United Kingdom.

Allison Druin
Institute for Advanced Computer Studies, University of Maryland, College
Park, MD 742, USA.
Bruce Edmonds
Centre for Policy Modelling, Manchester Metropolitan University, Aytoun Build-
ing, Aytoun Street, Manchester, M1 3GH, United Kingdom.

Contributing Authors xi
Peyman Faratin
Center for Coordination Science, MIT Sloan School of Management, NE20-
336, 77 Massachusetts Avenue, Cambridge, MA 02139, USA.

Jonathan Gratch
USC Institute for Creative Technologies, 13274 Fiji Way, Suite 600, Marina
del Rey, CA 90292, USA.
James A. Hendler
Institute for Advanced Computer Studies, University of Maryland, College

Park, MD 20742, USA.
Eva Hudlicka
Psychometrix Associates, Inc., 1805 Azalea Drive, Blacksburg, VA 24060,
USA.
Katherine Isbister
Finali Corporation, 3001 19th Street, 2nd floor, San Francisco, CA 94110,
USA.
Maria Klawe
Department of Computer Science, University of British Columbia, 2366 Main
Mall, Vancouver, B.C. Canada V6T 1Z4.
Hideki Kozima
Social Interaction Group, Keihanna Human Info-Communication Research Cen-
ter, Communications Research Laboratory, 2-2-2, Hikaridai, Seika-cho, Soraku-
gun, Kyoto 619-0289, Japan.
Hidekazu Kubota
Faculty of Engineering, University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo
113-8656, Japan.
Jarmo Laaksolahti
Swedish Institute of Computer Science (SICS), Box 1263,
SE-164 29 Kista, Sweden.
xii Socially Intelligent Agents
Peter Lönnqvist
Department of Computer and Systems Sciences, Stockholm University and
Royal Institute of Technology, Stockholm, Sweden.
Isabel Machado
Instituto de Engenharia de Sistemas e Computadores (INESC), Rua Alves
Redol 9, 1100 Lisboa, Portugal.
Stacy Marsella
USC Information Sciences Institute, 4676 Admiralty Way, Suite 1001, Marina
del Rey, CA 90292, USA.

Michael Mateas
Computer Science Department, Carnegie-Mellon University, 5000 Forbes Av-
enue, Pittsburgh, PA 15213, USA.
Helen McBreen
Centre for Communication Interface Research, Department of Electronics and
Electrical Engineering, University of Edinburgh, 80 South Bridge, EH1 1HN,
United Kingdom.
François Michaud
Department of Electrical Engineering and Computer Engineering, Université
de Sherbrooke, 2500 boul. Université, Sherbrooke (Québec) J1K 2R1, Canada.

Jaime Montemayor
Institute for Advanced Computer Studies, University of Maryland, College
Park, MD 20742, USA.
Scott Moss
Centre for Policy Modelling, Manchester Metropolitan University, Aytoun Build-
ing, Aytoun Street, Manchester, M1 3GH, United Kingdom.
Toyoaki Nishida
University of Tokyo, 7-3-1 Hongo, Bunkyo-ku, Tokyo 113-8656, Japan.

Contributing Authors xiii
Bernard Ogden
Adaptive Systems Research Group, Department of Computer Science, Univer-
sity of Hertfordshire, College Lane, Hatfield, Herts AL10 9AB, United King-
dom.
Ana Paiva
Instituto de Engenharia de Sistemas e Computadores (INESC), Rua Alves
Redol 9, 1100 Lisboa, Portugal.
Valery A. Petrushin
Center for Strategic Technology Reasearch, Accenture, 3773 Willow Road,

Northbrook, IL 60062, USA.
Per Persson
Swedish Institute of Computer Science (SICS), Box 1263,
SE-164 29 Kista, Sweden.
Rosalind W. Picard
Massachusetts Institute of Technology, Media Laboratory, 20 Ames Street,
Cambridge, MA 02139, USA.
John P. Pinto
Formerly of Interval Research Corporation.
Sebastiano Pizzutilo
Intelligent Interfaces, Department of Informatics, University of Bari, Via Orabo-
na 4, 70126 Bari, Italy.
David V. Pynadath
Information Sciences Institute, University of Southern California, 4676 Admi-
ralty Way, Marina del Rey, CA 90292, USA.
John Rae
University of Surrey Roehampton, School of Psychology and Counselling,
Whitelands College, West Hill, London, SW15 3SN, United Kingdom.

xiv Socially Intelligent Agents
Krisnawan Rahardja
Formerly of Interval Research Corporation.
Juan A. Rodríguez-Aguilar
iSOCO Barcelona, Alcalde Barnils, 64-68 Edificio Testa - bl. A, 08190 Sant
Cugat Del Valles, Spain. Formerly of IIIA, Spanish Scientific
Research Council (CSIC), Spain.
Juliette Rouchier
GREQAM (CNRS), 2 Rue de la Charite, 13002 Marseille, France.

Mark Scheeff

Formerly of Interval Research Corporation.
Scott Sona Snibbe
Formerly of Interval Research Corporation.
Carles Sierra
Institut d’Investigació en Intel.ligència Artificial (IIIA), Spanish Scientific
Research Council (CSIC), Campus de la UAB, 08193 Bellaterra, Spain.

Andrew Stern
www.interactivestory.net,
Penny Stribling
University of Surrey Roehampton, School of Psychology and Counselling,
Whitelands College, West Hill, London, SW15 3SN, United Kingdom.

Milind Tambe
Information Sciences Institute, University of Southern California,
4676 Admiralty Way, Marina del Rey, CA 90292, USA.
Contributing Authors xv
Nell Tenhaaf
Department of Visual Arts, 232 Centre for Fine Arts, York University, 4700
Keele Street, Toronto, Ontario, Canada, M3J 1P3.

Catherine Théberge-Turmel
Department of Electrical Engineering and Computer Engineering, Université
de Sherbrooke, 2500 boul. Université, Sherbrooke (Québec) J1K 2R1, Canada.

Robert Tow
AT & T Labs, 75 Willow Road, Menlo Park, CA 94025, USA.

Iain Werry
Department of Cybernetics, University of Reading, Whiteknights,

PO Box 225, Reading, Berks RG6 6AY, United Kingdom.

R. Michael Young
Department of Computer Science, Box 8206, College of Engineering, North
Carolina State University, Raleigh, NC 27695, USA.


Chapter 1
SOCIALLY INTELLIGENT AGENTS
Creating Relationships with Computers and Robots
Kerstin Dautenhahn
1
, Alan Bond
2
, Lola Cañamero
1
, and Bruce Edmonds
3
1
University of Hertfordshire,
2
California Institute of Technology,
3
Manchester Metropolitan
University
Abstract This introduction explains the motivation to edit this book and provides an over-
view of the chapters included in this book. Main themes and common threads
that can be found across different chapters are identified that might help the
reader in navigating the book.
1. Background: Why this book?

The field of Socially Intelligent Agents (SIA) is by many perceived as a
growing and increasingly important research area that comprises very active
research activities and strongly interdisciplinary approaches. The field of So-
cially Intelligent Agents is characterized by agent systems that show human-
style social intelligence [5]. Humans live in individualized societies where
group members know each other, so do other animal species, cf. figure 1.1.
Although overlap exists, SIA systems are different from multi-agent systems
that a) are often only loosely related to human social intelligence, or use very
different models from the animal world, e.g. self-organization in social in-
sect societies, or b) might strongly focus on the engineering and optimization
aspects of the agent approach to software engineering.
In the past, two AAAI Fall Symposia were organized on the topic of So-
cially Intelligent Agents, in 1997 and 2000. Both symposia attracted a large
number of participants. The first symposium gave a general overview on the
spectrum of research in the field, and in the years following this event a vari-
ety of publications (special journal issues and books) resulted from it
1
.Also,
a number of related symposia and workshops were subsequently organized
2
.
Unlike the 1997 symposium, the 2000 symposium specifically addressed the
issue of Socially Intelligent Agents - The Human in the Loop. A special issue
2 Socially Intelligent Agents
Figure 1.1. Elephants are socially intelligent biological agents that live in family groups with
strong, long-lasting social bonds. Much research into socially intelligent artifacts is inspired by
animal (including human) social intelligence.
of IEEE Systems, Man and Cybernetics, Part A emerged from this sympo-
sium which provides an in depth treatment of a few research approaches in
that area

3
. Unlike the special journal issue, this book has a radically differ-
ent nature: it is intended to be the first definitive collection of current work
in the rapidly growing field of Socially Intelligent Agents, providing a useful
and timely reference for computer scientists, web programmers and designers,
computer users, and researchers interested in the issue of how humans relate
to computers and robots, and how these agents in return can relate to them.
Each of the 32 chapters is, compared to a journal article, relatively short and
compact, focusing on the main theoretical and practical issues involved in the
work. Each chapter gives references to other publications that can provide the
reader with further detailed information.
In the area of software and intelligent agents many other publications are
available, e.g. [1], [9], [6], proceedings of the Autonomous Agents and other
conferences, just to name a few. However, none of them provide a state-of-
the-art reference book on Socially Intelligent Agents with an interdisciplinary
approach including both software and robotic agents.
Despite many publications that either a) specialize in particular issues rele-
vant to Socially Intelligent Agents (e.g. robots, emotions, conversational skills,
narrative, social learning and imitation etc., cf. [12], [10], [3], [7], [2], [11],
[4]), or b) present a small number of in-depth discussions of particular research
projects (published in journal issues mentioned above), the field of Socially
Intelligent Agents is missing a state-of-the-art collection that can provide an
overview and reference book. More and more researchers and PhD students
Creating Relationships with Computers and Robots 3
are interested in learning about and participating in SIA research, but at present
the only way to learn about the field is to go through and select among a large
number of widely ‘distributed’ and often difficult to access publications, i.e.
journal issues, books, conference and workshop proceedings etc. Our motiva-
tion to edit this book was therefore based on the belief that there is a strong
demand for a book that can be used by students, researchers and anybody in-

terested in learning about Socially Intelligent Agents. The main strength of
the book is the breadth of research topics presented and the references given at
the end of each chapter, so that researchers who want to work in that field are
given pointers to literature and other important work not included in the book.
The book presents a coherent and structured presentation of state-of-the-art
in the field. It does not require the reader to possess any specialist knowledge
and is suitable for any student / researcher with a general background in Com-
puter Science and/or Artificial Intelligence or related fields (e.g. Cognitive
Science, Cybernetics, Adaptive Behavior, Artificial Life etc.). Also, at present
the growing field of Socially Intelligent Agents has no core text that can be
used in university courses. This book fills this gap and might be used in differ-
ent courses for postgraduate studies, and as research material for PhD students,
e.g. for studies in Applied Artificial Intelligence, Intelligent and Autonomous
Agents, Adaptive Systems, Human-Computer Interaction, or Situated, Embod-
ied AI.
2. Book Structure and Chapter Overviews
The remaining thirty-two chapters of this book are organized into two parts.
The structure of the book is visually shown in figure 1.2. The first part ad-
dresses the theory, concepts and technology of Socially Intelligent Agents. The
second part addresses current and potential applications of Socially Intelligent
Agents. The first part of the book has twelve chapters organized in three sec-
tions covering three major themes, namely relationships between agents and
humans, edited by Alan Bond, agents and emotions/personality edited by Lola
Cañamero, and communities of social agents, edited by Bruce Edmonds. The
second part of the book consists of twenty chapters organized in five sections
covering the themes of interactive therapeutic agent systems, edited by Kerstin
Dautenhahn, socially intelligent robots, edited by Lola Cañamero, interactive
education and training, edited by Kerstin Dautenhahn, social agents in games
and entertainment, edited by Alan Bond, and social agents in e-commerce,
edited by Bruce Edmonds. The content of the sections and chapters is de-

scribed in more detail below.
Note, that thematically we have strong overlaps between all chapters in this
book, the division into thematic sections is mainly of practical nature. This