智能机器人材料3

2013 10th International Conference on Ubiquitous Robots and Ambient Intelligence (URAI) October 31-November 2, 2013 / Ramada Plaza Jeju Hotel, Jeju, Korea
Emotional Gait Generation Method based on Emotion Mental Model - Preliminary experiment with Happiness and Sadness Matthieu Destephe1, Kenji Hashimoto2 and Atsuo Takanishi3
Graduate School of Science and Engineering, Waseda University, Tokyo, Japan 2 Faculty of Science and Engineering, Waseda University, Tokyo, Japan 3 Department of Modern Mechanical Engineering & Humanoid Robotics Institute, Waseda University, Tokyo, Japan (Tel : +81-3-3203-4394; E-mail: contact@takanishi.mech.waseda.ac.jp)
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Abstract – Designing humanoid robots able to interact socially with humans is a challenging task. If we want the robots to be actively integrated in our society, several issues have to be taken in account: the look of the robot, the naturalness of its movements, the stability of its walk, the reactivity it might have with its human partners. We propose to improve the reactivity of the robot by using a emotional mental model in order to generate emotional gait patterns. Those patterns will help the understanding of any emotional message conveyed between a human and a robot. We propose a novel emotional gait generation method based on the Emotion mental model. We did preliminary experiments with the Happiness and Sadness emotions and with different intensities. Keywords - Motion Generation, Emotion, Biped Robot, Social Robotics
1. Introduction
Humanoid robots are designed to interact with people in their daily life and at any age, as soon as kindergarten or as late as nursing home. Advanced robots such as robot companions, robot workers, etc., will need to be able to adapt their behavior according to human feedback. For humans it is important to be able to give and to be given such feedback in a natural way, e.g., using emotional expression. Expressive robots can act as caregivers for children, with or without disabilities, and help their emotional development and wellbeing through emotive interaction. Therefore the ability of expressing emotions is important to facilitate intuitive human robot interaction. Moreover, the adaptation of the robot movements to the interaction context is necessary in order to create an interaction as natural and beneficial as possible. In this context, several emotion capable robots were developed along the years. For example, the robot Kismet was designed to simulate emotion and assess the affective intent of the caregiver [1]; NAO a small humanoid (58 cm) is often used in Human Robot Interaction (HRI) studies with children [2]; and the Waseda KOBIAN (fig. 1), designed by the applicant's team, combines a face capable of human-like expressions (24 DoF) and the bipedal locomotion ability. Preliminary studies on KOBIAN showed that whole-body posture clearly improves the emotion recognition [3].
However, if we want to perform a smooth and natural Human Robot Interaction, it necessitates a dynamic interaction between the participants with feedback, which could be visual, audible or tactile. Most of the current robots are only focused on the facial expressions and use rarely their limbs [4-5]. It was showed that the use of whole-body to express emotions improves the recognition rate of the emotions, and thus could increase the understanding and feedback during an interaction. In the case where movements are used for the interaction, they are usually fixed and follow a pre-determined pattern. This means that the robot will follow the same stimuli-response pattern. However, emotions are known to be dependent on several factors such as interaction context, culture, age, and gender. Without dynamic adaptation, after some time, the human partner will become progressively bored and the human implication in the interaction will drop. Additionally, the emotive walking research is an innovative field of research which stays mainly unexplored. In this paper, we propose an emotional gait generation method based on the Emotion mental model [6]. After a brief literature review in section 2, we describe our robot platform, the emotional mental model and a new emotional gait generation method in section 3. We present an experiment in the section 4 and we conclude and comment our work in the section 5.
2. Related works
2.1 Humanoid robots Among human sized humanoids robots, just a few are capable of expressing emotions. HRP-4C is a geminoid which can express pre-programmed facial emotions but cannot walk [7]. ASIMO [8] and WABIAN-2RII [9] are able to walk but do not have emotion expression capabilities. KIBO [10], developed by KIST, can express facial emotion expression but this capability was not assess by research. KOBIAN-2R [11], developed at Waseda University, is able to walk and express emotions not only with its face but also with its whole body [13]. 2.2 Emotion models Emotion models can be classified in three categories: appraisal, a categorical or a dimensional approach. The appraisal approach states that our appreciation of events (appraisal) determines the reaction to those events and it is
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