Study on emotion-based control for biped humanoid robot

这项研究描述了理解人类情感行走的科学目标和构建能够表达情感的仿人机器人的工程目标。在本研究中考虑的三种情绪，如快乐，悲伤和愤怒，能够实现的运动模式的整个身体的仿人机器人的参数化定义。有两种主要的控制方法来表达的情绪：步行控制的运动和平衡控制行走稳定性。平衡控制计算腰部和躯干的组合运动，以补偿由头部、下肢和上肢的运动产生的力矩。为了进行情感表达的实验，我们设计了一个仿人机器人WABIAN-RIII（Waseda Bipedal humANoid robot Revised III），它具有43个机械自由度和4个被动自由度。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、0.15 m/步的步宽实现了情感行走。实验结果表明，运动参数化和运动稳定性控制方法是有效的动态情感表达。

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.