Misty2py: Designing a Python Library to Facilitate Skill Development for a Social Assistive Robot Misty II

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The eld of Societal Assistive Robotics, a sub- eld of Human-Robot In- teraction, faces many challenges. Some of these are concrete and technical, falling narrowly into Software Design or Hardware Engineering, while others are abstract and multi- eld. This thesis asks whether it is possible to design a Python 3 library that facilitates solving abstract multi- eld problems us- ing the societal assistive robot Misty II. The package Misty2py answers the research question, showing by the proof-by-construction method that it is feasible to design such a package. This thesis evaluates the package's useful- ness by showing that Misty2py can be used to develop essential behaviours of societal assistive robots and that these implementations are shorter or more abstract than implementations without a specialised library. These behaviours, called skills in Misty's paradigm, are presented in the separate package Misty2py-skills. This thesis further explains why a new Python package for Misty II development is needed, reviews the currently available tools for developing Misty II skills and embeds the work into the eld of Societal Assistive Robotics.
Faculteit der Sociale Wetenschappen