Find i ng the mot ion plann i ng method which communicates the robot' s emotion to human

本文描述了机器人的运动规划，将机器人的情感传递给人类。本研究通过对文乐木偶运动的动作捕捉系统，为机器人的运动模式和方法提供了许多借鉴。新的发现是，文乐木偶的身体末端会扩张和收缩，尤其是当文乐木偶情绪强烈时。在此基础上设计了一个CG机器人和部分真实机器人的实验结果，表明了该方法的正确性。

This paper describes the motion planning of Robots which communicates the robot's emotion to human.By using motion capture systems for Bunraku puppet's motion, this study picked up many motion patterns and the method for Robots. New findings are the end of the Bunraku puppet's body expands and contracts, especially when a Bunraku puppet's emotion is strong. The experiment results with a CG robot and a part of real robot designed from these findings, show the method clarify.