Skip to main content
Erschienen in: International Journal of Social Robotics 4/2013

01.11.2013

Emotional Postures for the Humanoid-Robot Nao

verfasst von: Mustafa Suphi Erden

Erschienen in: International Journal of Social Robotics | Ausgabe 4/2013

Einloggen

Aktivieren Sie unsere intelligente Suche um passende Fachinhalte oder Patente zu finden.

search-config
loading …

Abstract

This paper presents the development of emotional postures for the humanoid robot Nao. The approach is based on adaptation of the postures that are developed for a virtual human body model to the case of the physical robot Nao. In the paper the association between the joints of the human body model and the joints of the Nao robot are described and the transformation of postures is explained. The non-correspondence between the joints of the actual physical robot and the joints of the human body model was a major challenge in this work. Moreover, the implementation of the postures into the robot was constrained by the physical structure and the artificial mass distribution. Postures for the three emotions of anger, sadness, and happiness are studied. Thirty two postures are generated for each emotion. Among them the best five postures for each emotion are selected based on the votes of twenty five external observers. The distribution of the votes indicates that many of the implemented postures do not convey the intended emotions. The emotional content of the selected best five postures are tested by the votes of forty observers. The intended emotions received the highest recognition rate for each group of these selected postures. This study can be considered to be the last step of a general process for developing emotional postures for robots. This process starts with qualitative descriptions of human postures, continues with encoding those descriptions in quantitative terms, and ends with adaptation of the quantitative values to a specific robot. The present study demonstrates the last step of this process.

Sie haben noch keine Lizenz? Dann Informieren Sie sich jetzt über unsere Produkte:

Springer Professional "Wirtschaft+Technik"

Online-Abonnement

Mit Springer Professional "Wirtschaft+Technik" erhalten Sie Zugriff auf:

  • über 102.000 Bücher
  • über 537 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Finance + Banking
  • Management + Führung
  • Marketing + Vertrieb
  • Maschinenbau + Werkstoffe
  • Versicherung + Risiko

Jetzt Wissensvorsprung sichern!

Springer Professional "Technik"

Online-Abonnement

Mit Springer Professional "Technik" erhalten Sie Zugriff auf:

  • über 67.000 Bücher
  • über 390 Zeitschriften

aus folgenden Fachgebieten:

  • Automobil + Motoren
  • Bauwesen + Immobilien
  • Business IT + Informatik
  • Elektrotechnik + Elektronik
  • Energie + Nachhaltigkeit
  • Maschinenbau + Werkstoffe




 

Jetzt Wissensvorsprung sichern!

Literatur
1.
Zurück zum Zitat Mehrabian A (2009) Nonverbal communication. Aldine Transaction, Piscataway, pp 1–11, first printed in 1972 Mehrabian A (2009) Nonverbal communication. Aldine Transaction, Piscataway, pp 1–11, first printed in 1972
2.
Zurück zum Zitat Erden MS, Tapus A (2010) Postural expressions of emotions in a humanoid robot for assistive applications. Poster paper in workshop on learning for human–robot interaction modeling under the conference of robotics science and systems-RSS 2010, 27–30 June, Zaragoza, Spain Erden MS, Tapus A (2010) Postural expressions of emotions in a humanoid robot for assistive applications. Poster paper in workshop on learning for human–robot interaction modeling under the conference of robotics science and systems-RSS 2010, 27–30 June, Zaragoza, Spain
3.
Zurück zum Zitat Nomura T, Nakao A (2010) Comparison on identification of affective body motions by robots between elder people and university students: a case study in Japan. Int J Soc Robot 2:147–157 CrossRef Nomura T, Nakao A (2010) Comparison on identification of affective body motions by robots between elder people and university students: a case study in Japan. Int J Soc Robot 2:147–157 CrossRef
4.
Zurück zum Zitat Zecca M, Endo N, Momoki S, Itoh K, Takanishi A (2008) Design of humanoid robot KOBIAN—preliminary analysis of facial and whole body emotion expression capabilities. In: Proc of the 8th IEEE-RAS int conf on humanoid robot, vol 1–3, Daejeon, Korea, 1–3 Dec, pp 487–492 Zecca M, Endo N, Momoki S, Itoh K, Takanishi A (2008) Design of humanoid robot KOBIAN—preliminary analysis of facial and whole body emotion expression capabilities. In: Proc of the 8th IEEE-RAS int conf on humanoid robot, vol 1–3, Daejeon, Korea, 1–3 Dec, pp 487–492
5.
Zurück zum Zitat Li J, Chignell M (2010) Communication of emotion in social robots through simple head and arm movements. Int J Soc Robot. doi:10.1007/s12369-010-0071-x. Published Online 4 September 2010. Li J, Chignell M (2010) Communication of emotion in social robots through simple head and arm movements. Int J Soc Robot. doi:10.​1007/​s12369-010-0071-x. Published Online 4 September 2010.
6.
Zurück zum Zitat Zecca M, Mizoguchi T, Endo K, Iida F, Kawabata Y, Endo N, Itoh K, Takanishi A (2009) Whole body emotion expression for KOBIAN humanoid robot—preliminary experiments with different emotional patterns. In: Proc of the 18th IEEE int symp on robot and human interactive communication—ROMAN 2009, Toyama, Japan, Sept 27–Oct 2, pp 381–386 CrossRef Zecca M, Mizoguchi T, Endo K, Iida F, Kawabata Y, Endo N, Itoh K, Takanishi A (2009) Whole body emotion expression for KOBIAN humanoid robot—preliminary experiments with different emotional patterns. In: Proc of the 18th IEEE int symp on robot and human interactive communication—ROMAN 2009, Toyama, Japan, Sept 27–Oct 2, pp 381–386 CrossRef
7.
Zurück zum Zitat Coulson M (2004) Attributing emotion to static body postures: recognition accuracy, confusions, and viewpoint dependence. J Nonverbal Behav 28(2):117–139 MathSciNetCrossRef Coulson M (2004) Attributing emotion to static body postures: recognition accuracy, confusions, and viewpoint dependence. J Nonverbal Behav 28(2):117–139 MathSciNetCrossRef
8.
Zurück zum Zitat Boone RT, Cunningham JG (2001) Children’s expression of emotional meaning in music through expressive body movement. J Nonverbal Behav 25(1):21–41 CrossRef Boone RT, Cunningham JG (2001) Children’s expression of emotional meaning in music through expressive body movement. J Nonverbal Behav 25(1):21–41 CrossRef
9.
Zurück zum Zitat Montepare J, Koff E, Zaitchik D, Albert M (1999) The use of body movements and gestures as cues to emotions in younger and older adults. J Nonverbal Behav 23(2):133–152 CrossRef Montepare J, Koff E, Zaitchik D, Albert M (1999) The use of body movements and gestures as cues to emotions in younger and older adults. J Nonverbal Behav 23(2):133–152 CrossRef
10.
Zurück zum Zitat Walbott HG (1998) Bodily expression of emotion. Eur J Soc Psychol 28(6):879–896 CrossRef Walbott HG (1998) Bodily expression of emotion. Eur J Soc Psychol 28(6):879–896 CrossRef
11.
Zurück zum Zitat Goh DH, Ang RP, Tan HC (2008) Strategies for designing effective psychotherapeutic gaming interventions for children and adolescents. Comput Hum Behav 24:2217–2235 CrossRef Goh DH, Ang RP, Tan HC (2008) Strategies for designing effective psychotherapeutic gaming interventions for children and adolescents. Comput Hum Behav 24:2217–2235 CrossRef
12.
Zurück zum Zitat Billard A, Dautenhahn K (2002) Games children with autism can play with robota, a humanoid robotic doll. In: Proceedings of the 1st Cambridge workshop on universal access and assistive technology, num. 1 Billard A, Dautenhahn K (2002) Games children with autism can play with robota, a humanoid robotic doll. In: Proceedings of the 1st Cambridge workshop on universal access and assistive technology, num. 1
13.
Zurück zum Zitat Jahr E, Eldevik S, Eikeseth S (2000) Teaching children with autism to initiate and sustain cooperative play. Res Dev Disabil 21:151–169 CrossRef Jahr E, Eldevik S, Eikeseth S (2000) Teaching children with autism to initiate and sustain cooperative play. Res Dev Disabil 21:151–169 CrossRef
14.
Zurück zum Zitat Silver M, Oakes P (2001) Evaluation of a new computer intervention to teach people with autism or Asperger syndrome to recognize and predict emotions in others. Autism 5(3):299–316 CrossRef Silver M, Oakes P (2001) Evaluation of a new computer intervention to teach people with autism or Asperger syndrome to recognize and predict emotions in others. Autism 5(3):299–316 CrossRef
15.
Zurück zum Zitat Frith U, Blakemore SJ (2003) “Social cognition”. Foresight cognitive systems project research review. Institute of Cognitive Neuroscience, London Frith U, Blakemore SJ (2003) “Social cognition”. Foresight cognitive systems project research review. Institute of Cognitive Neuroscience, London
16.
Zurück zum Zitat Billard A (2003) Robota: clever toy and educational tool. Robot Auton Syst 42:259–269 CrossRefMATH Billard A (2003) Robota: clever toy and educational tool. Robot Auton Syst 42:259–269 CrossRefMATH
17.
Zurück zum Zitat Billard A (2000) Play, dreams and imitation in robota. In: Proceedings of the workshop on interactive robotics and entertainment, CMU, Pittsburgh, 30 April–1 May, 2000 Billard A (2000) Play, dreams and imitation in robota. In: Proceedings of the workshop on interactive robotics and entertainment, CMU, Pittsburgh, 30 April–1 May, 2000
18.
Zurück zum Zitat Virvou M, Katsionis G (2008) On the usability and likeability of virtual reality games for education: the case of VR-ENGAGE. Comput Educ 50:154–178 CrossRef Virvou M, Katsionis G (2008) On the usability and likeability of virtual reality games for education: the case of VR-ENGAGE. Comput Educ 50:154–178 CrossRef
19.
Zurück zum Zitat Kozima H, Michalowski MP, Nakagawa C (2009) Keepon—a playful robot for research, therapy, and entertainment. Int J Soc Robot 1:3–18 CrossRef Kozima H, Michalowski MP, Nakagawa C (2009) Keepon—a playful robot for research, therapy, and entertainment. Int J Soc Robot 1:3–18 CrossRef
20.
Zurück zum Zitat Kanda T, Nabe S, Hiraki K, Ishiguro H, Hagita N (2008) Human friendship estimation model for communication robots. Auton Robots 24:135–145 CrossRef Kanda T, Nabe S, Hiraki K, Ishiguro H, Hagita N (2008) Human friendship estimation model for communication robots. Auton Robots 24:135–145 CrossRef
21.
Zurück zum Zitat Breazeal C, Gray J, Berlin M (2009) An embodied cognition approach to mindreading skills for socially intelligent robots. Int J Robot Res 28(5):656–680 CrossRef Breazeal C, Gray J, Berlin M (2009) An embodied cognition approach to mindreading skills for socially intelligent robots. Int J Robot Res 28(5):656–680 CrossRef
22.
Zurück zum Zitat Liu C, Conn K, Sarkar N, Stone W (2008) Online affect detection and robot behavior adaptation for intervention of children with autism. IEEE Trans Robot 24(4):883–896 CrossRef Liu C, Conn K, Sarkar N, Stone W (2008) Online affect detection and robot behavior adaptation for intervention of children with autism. IEEE Trans Robot 24(4):883–896 CrossRef
23.
Zurück zum Zitat Kozima H, Nakagawa C, Yano H (2004) Can a robot empathize with people? Artif Life Robot 8:83–88 CrossRef Kozima H, Nakagawa C, Yano H (2004) Can a robot empathize with people? Artif Life Robot 8:83–88 CrossRef
24.
Zurück zum Zitat Fong T, Nourbakhsh I, Dautenhahn K (2003) A survey of socially interactive robots. Robot Auton Syst 42:143–166 CrossRefMATH Fong T, Nourbakhsh I, Dautenhahn K (2003) A survey of socially interactive robots. Robot Auton Syst 42:143–166 CrossRefMATH
25.
Zurück zum Zitat Arkin RC, Fujita M, Takagi T, Hasegawa R (2003) An ethological and emotional basis for human–robot interaction. Robot Auton Syst 42:191–201 CrossRefMATH Arkin RC, Fujita M, Takagi T, Hasegawa R (2003) An ethological and emotional basis for human–robot interaction. Robot Auton Syst 42:191–201 CrossRefMATH
26.
Zurück zum Zitat Ekman P, Friesen WV (1984) Emotion facial action coding system (EM-FACS). University of California, San Francisco Ekman P, Friesen WV (1984) Emotion facial action coding system (EM-FACS). University of California, San Francisco
27.
Zurück zum Zitat Breazeal C (2003) Emotion and sociable humanoid robot. Int J Hum-Comput Stud 59:119–155 CrossRef Breazeal C (2003) Emotion and sociable humanoid robot. Int J Hum-Comput Stud 59:119–155 CrossRef
28.
Zurück zum Zitat Endo N, Momoki S, Zecca M, Saito M, Mizoguchi Y, Itoh K, Takanishi A (2008) Developments of whole-body emotion expression humanoid robot. In: Proc of IEEE int conf on robotics and automation, Pasadena, CA, USA, May 19–23, pp 2140–2145 Endo N, Momoki S, Zecca M, Saito M, Mizoguchi Y, Itoh K, Takanishi A (2008) Developments of whole-body emotion expression humanoid robot. In: Proc of IEEE int conf on robotics and automation, Pasadena, CA, USA, May 19–23, pp 2140–2145
29.
Zurück zum Zitat Itoh K, Miwa H, Nukariya Y, Zecca M, Takanobu H, Roccella S, Carrozza MC, Dario P, Takanishi A (2006) Behavior generation of humanoid robots depending on mood. In: Proc of the 9th int conf on intelligent autonomous systems (IAS-9), vol 9, pp 965–972 Itoh K, Miwa H, Nukariya Y, Zecca M, Takanobu H, Roccella S, Carrozza MC, Dario P, Takanishi A (2006) Behavior generation of humanoid robots depending on mood. In: Proc of the 9th int conf on intelligent autonomous systems (IAS-9), vol 9, pp 965–972
30.
Zurück zum Zitat Kleinsmith A, Bianchi-Berthouze N (2007) Recognizing affective dimension from body posture. In: Proc of second int conf on affective computing and intelligent interaction, Lisbon, Portugal, pp 48–58 CrossRef Kleinsmith A, Bianchi-Berthouze N (2007) Recognizing affective dimension from body posture. In: Proc of second int conf on affective computing and intelligent interaction, Lisbon, Portugal, pp 48–58 CrossRef
31.
Zurück zum Zitat Castellano G, Villalba D, Camurri A (2007) Recognizing human emotions from body movement and gesture dynamics. In: Proc of second int conf on affective computing and intelligent interaction, Lisbon, Portugal, pp 71–82 CrossRef Castellano G, Villalba D, Camurri A (2007) Recognizing human emotions from body movement and gesture dynamics. In: Proc of second int conf on affective computing and intelligent interaction, Lisbon, Portugal, pp 71–82 CrossRef
32.
Zurück zum Zitat Bernhardt D, Robinson P (2007) Detecting affect from non-stylised body motions. In: Proc of second int conf on affective computing and intelligent interaction, Lisbon, Portugal, pp 59–70 CrossRef Bernhardt D, Robinson P (2007) Detecting affect from non-stylised body motions. In: Proc of second int conf on affective computing and intelligent interaction, Lisbon, Portugal, pp 59–70 CrossRef
33.
Zurück zum Zitat Clavel C, Plessier J, Martin JC, Ach L, Morel B (2009) Combining facial and postural expressions of emotions in a virtual character. In: Ruttkay Zs et al (eds) Intelligent virtual agents. Lecture notes in computer science, vol 5773. Springer, Heidelberg, pp 287–300 CrossRef Clavel C, Plessier J, Martin JC, Ach L, Morel B (2009) Combining facial and postural expressions of emotions in a virtual character. In: Ruttkay Zs et al (eds) Intelligent virtual agents. Lecture notes in computer science, vol 5773. Springer, Heidelberg, pp 287–300 CrossRef
34.
Zurück zum Zitat Pasch M, Poppe R (2007) Person or puppet? The role of stimulus realism in attributing emotion to static body postures. In: Paiva A, Prada R, Picard RW (eds) Affective computing and intelligent interaction. Lecture notes in computer science, vol 4738. Springer, Berlin, pp 83–94 CrossRef Pasch M, Poppe R (2007) Person or puppet? The role of stimulus realism in attributing emotion to static body postures. In: Paiva A, Prada R, Picard RW (eds) Affective computing and intelligent interaction. Lecture notes in computer science, vol 4738. Springer, Berlin, pp 83–94 CrossRef
35.
Zurück zum Zitat Crane E, Gross M (2007) Motion capture and emotion: affect detection in whole body movement. In: Paiva A, Prada R, Picard RW (eds) ACII 2007. LNCS, vol 4738. Springer, Berlin, pp 95–101 Crane E, Gross M (2007) Motion capture and emotion: affect detection in whole body movement. In: Paiva A, Prada R, Picard RW (eds) ACII 2007. LNCS, vol 4738. Springer, Berlin, pp 95–101
Metadaten
Titel
Emotional Postures for the Humanoid-Robot Nao
verfasst von
Mustafa Suphi Erden
Publikationsdatum
01.11.2013
Verlag
Springer Netherlands
Erschienen in
International Journal of Social Robotics / Ausgabe 4/2013
Print ISSN: 1875-4791
Elektronische ISSN: 1875-4805
DOI
https://doi.org/10.1007/s12369-013-0200-4

Weitere Artikel der Ausgabe 4/2013

International Journal of Social Robotics 4/2013 Zur Ausgabe

    Marktübersichten

    Die im Laufe eines Jahres in der „adhäsion“ veröffentlichten Marktübersichten helfen Anwendern verschiedenster Branchen, sich einen gezielten Überblick über Lieferantenangebote zu verschaffen.