Expressive Gesture Model for Humanoid Robot
Expressive Gesture Model for Humanoid Robot
复制标题
人形机器人表达手势模型
DOI：
10.1007/978-3-642-24571-8_24
复制
发表时间：
2011
期刊：
影响因子：
--
通讯作者：
C. Pelachaud
中科院分区：
文献类型：
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作者：
Le Quoc Anh;C. Pelachaud
本文提出了一种表达性的手势模型，产生伴随着语音的人形机器人Nao的交际手势。研究工作主要集中在与语音协调的机器人手势的表现力。为了实现这一目标，我们已经扩展和开发了我们现有的虚拟代理平台GRETA，以适应机器人。手势原型被象征性地描述并存储在一个称为词汇的手势数据库中。给定一组意图和情感状态进行通信，系统从机器人词典中选择相应的手势。在此之后，所选择的手势被计划为同步语音，然后在机器人关节值中实例化，同时考虑到手势表现力的参数，例如时间延伸、空间延伸、流动性、力量和重复性。在本文中，我们将提供一个详细的概述我们提出的模型。
This paper presents an expressive gesture model that generates communicative gestures accompanying speech for the humanoid robot Nao. The research work focuses mainly on the expressivity of robot gestures being coordinated with speech. To reach this objective, we have extended and developed our existing virtual agent platform GRETA to be adapted to the robot. Gestural prototypes are described symbolically and stored in a gestural database, called lexicon. Given a set of intentions and emotional states to communicate the system selects from the robot lexicon corresponding gestures. After that the selected gestures are planned to synchronize speech and then instantiated in robot joint values while taking into account parameters of gestural expressivity such as temporal extension, spatial extension, fluidity, power and repetitivity. In this paper, we will provide a detailed overview of our proposed model.