Study on emotion-based control for biped humanoid robot

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This study describes both the scientific goal of understanding human emotional walking and the engineering goal of building a biped humanoid robot capable of expressing emotions. Three emotions such as happiness, sadness and anger considered in this research are able to be realized by the motion patterns of the whole body of a biped humanoid robot that are defined by the parameterization. There are two main control methods to express the emotions: a walking control for locomotion and a balance control for walking stability. The balance control calculates the combined motion of the waist and the trunk to compensate for moments generated by the motions of the head, the lower-limbs and the upper-limbs. To experiment emotional expression, we have constructed a human-like biped robot, WABIAN-RIII (WAseda BIpedal humANoid robot Revised III), which has forth-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. In emotional experiments, emotional walking is realized with the step time of 1.28 s/step and the step width of 0.15 m/step. The experimental results show that the motion parameterization and the locomotion and stability control methods are effective for dynamic emotion expression.