Hostname: page-component-586b7cd67f-r5fsc Total loading time: 0 Render date: 2024-11-27T15:57:34.888Z Has data issue: false hasContentIssue false
  • English
  • Français

Emotion-based biped walking

Published online by Cambridge University Press:  19 August 2004

Hun-ok Lim ,
Akinori Ishii  and
Atsuo Takanishi
Hun-ok Lim
Affiliation:
Dept. of Mechanical Engineering, Waseda University, 1-104 Totsuka-muchi, Shinjyuku-ku, Tokyo 169-50 (Japan). Humanoid Robotics Institute, Waseda University (Japan)
Akinori Ishii
Affiliation:
Dept. of Mechanical Engineering, Waseda University, 1-104 Totsuka-muchi, Shinjyuku-ku, Tokyo 169-50 (Japan).
Atsuo Takanishi
Affiliation:
Dept. of Mechanical Engineering, Waseda University, 1-104 Totsuka-muchi, Shinjyuku-ku, Tokyo 169-50 (Japan). Humanoid Robotics Institute, Waseda University (Japan)
Get access Rights & Permissions [Opens in a new window]

Abstract

This paper describes emotion-based walking for a biped humanoid robot. In this paper, three emotions, such as happiness, sadness and anger are considered. These emotions are expressed by the walking styles of the biped humanoid robot that are preset by the parameterization of its whole body motion. To keep its balance during the emotional expressions, the motion of the trunk is employed which is calculated by the compensatory motion control based on the motions of the head, arms and legs. We have constructed a biped humanoid robot, WABIAB-RII (WAseda BIpedal humANoid robot-Revised II), to explore the issue of the emotional walking motion for a smooth and natural communication. WABIAN-RII has forty-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. Using WABIAN-RII, three emotion expressions are experimented by the biped walking, including the body motion, and evaluated.

Keywords

Emotional walkingCompensatory motionMotion parametersParameterizationBiped humanoid robot
Type
Research Article
Information
Robotica , Volume 22 , Issue 5 , October 2004 , pp. 577 - 586
Copyright
© 2004 Cambridge University Press

Access options

Get access to the full version of this content by using one of the access options below. (Log in options will check for institutional or personal access. Content may require purchase if you do not have access.)