TY - GEN
T1 - Robotic Arm Trajectory Generation Based on Emotion and Kinematic Feature
AU - Wu, Kaiwen
AU - Chen, Luefeng
AU - Wang, Kuanlin
AU - Wu, Min
AU - Pedrycz, Witold
AU - Hirota, Kaoru
N1 - Publisher Copyright:
© 2022 IEEJ-IAS.
PY - 2022
Y1 - 2022
N2 - In order to make the robot produce expressive actions to express emotions, a robotic arm trajectory planning is proposed to perform emotions, which contains a fuzzy reasoner and a robotic arm kinematics feature mapping part. The fuzzy reasoner converts emotional factors and Human-Robot Interaction (HRI) factors into VA (Valence, Arousal) emotional model. And the VA values are mapped to the kinematics characteristics of the robotic arm joints through the kinematics characteristics, which are used to generate new motion trajectories. This method generates the motion trajectory of the robotic arm based on modifying the original trajectory according to the kinematics characteristics, and expresses different emotion. Meanwhile, the repetitiveness and predictability of emotion expression actions are solved. We used Matlab to simulate the motion trajectory of the robotic arms, and applied it to the emotional robot WEBO (We Robot). The generated robotic arm actions better express different emotions and achieve better HRI.
AB - In order to make the robot produce expressive actions to express emotions, a robotic arm trajectory planning is proposed to perform emotions, which contains a fuzzy reasoner and a robotic arm kinematics feature mapping part. The fuzzy reasoner converts emotional factors and Human-Robot Interaction (HRI) factors into VA (Valence, Arousal) emotional model. And the VA values are mapped to the kinematics characteristics of the robotic arm joints through the kinematics characteristics, which are used to generate new motion trajectories. This method generates the motion trajectory of the robotic arm based on modifying the original trajectory according to the kinematics characteristics, and expresses different emotion. Meanwhile, the repetitiveness and predictability of emotion expression actions are solved. We used Matlab to simulate the motion trajectory of the robotic arms, and applied it to the emotional robot WEBO (We Robot). The generated robotic arm actions better express different emotions and achieve better HRI.
KW - Emotional expression
KW - Emotional robot
KW - Human-Robot Interaction
KW - Trajectory planning
UR - http://www.scopus.com/inward/record.url?scp=85134250372&partnerID=8YFLogxK
U2 - 10.23919/IPEC-Himeji2022-ECCE53331.2022.9807205
DO - 10.23919/IPEC-Himeji2022-ECCE53331.2022.9807205
M3 - Conference contribution
AN - SCOPUS:85134250372
T3 - 2022 International Power Electronics Conference, IPEC-Himeji 2022-ECCE Asia
SP - 1332
EP - 1336
BT - 2022 International Power Electronics Conference, IPEC-Himeji 2022-ECCE Asia
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2022 International Power Electronics Conference, IPEC-Himeji 2022-ECCE Asia
Y2 - 15 May 2022 through 19 May 2022
ER -
