Development of a Humorous Humanoid Robot Capable of Quick-and-Wide Arm Motion
Development of a Humorous Humanoid Robot Capable of Quick-and-Wide Arm Motion
复制标题
DOI：
10.1109/lra.2016.2530871
复制
发表时间：
2016-07
影响因子：
5.2
通讯作者：
T. Kishi;Soichiro Shimomura;Hajime Futaki;Hiroshi Yanagino;Masaaki Yahara;S. Cosentino;Takashi Nozawa;K. Hashimoto;A. Takanishi
中科院分区：
文献类型：
--
作者：
T. Kishi;Soichiro Shimomura;Hajime Futaki;Hiroshi Yanagino;Masaaki Yahara;S. Cosentino;Takashi Nozawa;K. Hashimoto;A. Takanishi
这封信描述了一种具有快速宽广运动能力的人形手臂的开发，可以让人类发笑。笑之所以引起研究关注，是因为它通过治疗或预防精神疾病来增进健康。然而，由于笑的机制复杂，人们还没有完全了解笑的机制，笑在医疗保健中的应用并不是很有效。能够让人类发笑的机器人的开发将阐明人类如何从刺激中体验幽默的机制。跨文化和语言差异，非语言的滑稽表达有可能让人发笑。特别是，我们关注了在闹剧和无声喜剧电影中广泛使用的夸张的手臂动作。为了开发出能够执行这种动作的类人机器人，所需的规格是根据人类喜剧演员表演的闹剧计算出来的。为了满足要求，开发了一种新型的仿人机器人手臂，其中包括由柔性轴驱动的轻型关节和由双电机机构驱动的高输出功率的关节。实验评价结果表明，该硬件实现的快速宽幅动作能有效地逗人发笑。
This letter describes the development of a humanoid arm with quick-and-wide motion capability for making humans laugh. Laughter is attracting research attention because it enhances health by treating or preventing mental diseases. However, laughter has not been used effectively in healthcare because the mechanism of laughter is complicated and is yet to be fully understood. The development of a robot capable of making humans laugh will clarify the mechanism how humans experience humor from stimuli. Nonverbal funny expressions have the potential to make humans laugh across cultural and linguistic differences. In particular, we focused on the exaggerated arm motion widely used in slapsticks and silent comedy films. In order to develop a humanoid robot that can perform this type of movement, the required specification was calculated from slapstick skits performed by human comedians. To meet the required specifications, new arms for the humanoid robot were developed with a novel mechanism that includes lightweight joints driven by a flexible shaft and joints with high output power driven by a twin-motor mechanism. The results of experimental evaluation show that the quick-and-wide motion performed by the developed hardware is effective at making humans laugh.