Emotion-based biped walking

Hun Ok Lim, Akinori Ishii, Atsuo Takanishi

    研究成果: Article

    17 引用 (Scopus)

    抄録

    This paper describes emotion-based walking for a biped humanoid robot. In this paper, three emotions, such as happiness, sadness and anger are considered. These emotions are expressed by the walking styles of the biped humanoid robot that are preset by the parameterization of its whole body motion. To keep its balance during the emotional expressions, the motion of the trunk is employed which is calculated by the compensatory motion control based on the motions of the head, arms and legs. We have constructed a biped humanoid robot, WABIAB-RII (WAseda BIpedal humANoid robot-Revised II), to explore the issue of the emotional walking motion for a smooth and natural communication. WABIAN-RII has forty-three mechanical degrees of freedom and four passive degrees of freedom. Its height is about 1.84 m and its total weight is 127 kg. Using WABIAN-RII, three emotion expressions are experimented by the biped walking, including the body motion, and evaluated.

    元の言語English
    ページ(範囲)577-586
    ページ数10
    ジャーナルRobotica
    22
    発行部数5
    DOI
    出版物ステータスPublished - 2004 9

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    Humanoid Robot
    Robots
    Biped Robot
    Motion
    Motion control
    Parameterization
    Degree of freedom
    Motion Control
    Emotion
    Communication

    ASJC Scopus subject areas

    • Control and Systems Engineering

    これを引用

    Emotion-based biped walking. / Lim, Hun Ok; Ishii, Akinori; Takanishi, Atsuo.

    :: Robotica, 巻 22, 番号 5, 09.2004, p. 577-586.

    研究成果: Article

    Lim, HO, Ishii, A & Takanishi, A 2004, 'Emotion-based biped walking', Robotica, 巻. 22, 番号 5, pp. 577-586. https://doi.org/10.1017/S0263574704000372
    Lim, Hun Ok ; Ishii, Akinori ; Takanishi, Atsuo. / Emotion-based biped walking. :: Robotica. 2004 ; 巻 22, 番号 5. pp. 577-586.
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