Robotic Arm Trajectory Generation Based on Emotion and Kinematic Feature

摘要

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.