Study on emotion-based control for biped humanoid robot

本研究既描述了理解人类情感行走的科学目标，也描述了构建能够表达情感的双足类人机器人的工程目标。本研究考虑的快乐、悲伤和愤怒三种情绪可以通过参数化定义的双足类人机器人的全身运动模式来实现。有两种主要的控制方法来表达情绪：行走控制运动和平衡控制行走稳定性。平衡控制计算腰部和躯干的联合运动，以补偿头部、下肢和上肢运动产生的力矩。为了实验情感表达，我们构建了一个具有四个机械自由度和四个被动自由度的类人双足机器人WABIAN-RIII （WAseda BIpedal humANoid robot Revised III）。它的高度约为1.84米，总重量为127公斤。在情感实验中，以1.28 s/步的步长和0.15 m/步的步宽实现情感行走。实验结果表明，运动参数化和运动稳定控制方法对动态情感表达是有效的。

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.