Emotional generation model for autonomous mobile robot.

摘要

Some emotional models have been already proposed in the recent engineering research. However, the research about transmitting emotions and feelings to the robot has been almost performed nothing. Therefore, researches for the emotional expression are later than the other researches in the robotics. The purpose of our research is to attempt to represent emotions which are difficult to express into a robot as compared with the logical knowledge and to construct the emotional generation model for the robot behavior. At first, the emotional simulator for an autonomous mobile robot which is able to express various emotions based on three basic emotional vectors: Joy, Anger and Sadness described with simplified fuzzy rules was developed in this research. In the next step, we represented the emotional auto-generation model with the subsumption architecture (SSA). In this paper, we also report the result of experiments performed with miniature robot for the purpose of confirming the efficiency of this simulator and model. By these experiments, it was confirmed that we can easily generate various emotions by using the emotional simulator. Singletons in THEN part and motor output functions to realize emotional behaviors were properly tuned by weighted addition of three basic emotional vectors. We also confirmed it is proper that three basic emotions: Joy, Anger and Sadness are expressed with the emotional generation model.