TY - JOUR
T1 - Automatic emotional expression of a face robot by using a reactive behavior decision model
AU - Oh, Kyung geune
AU - Jang, Myoung soo
AU - Kim, Seung Jong
N1 - Funding Information:
This paper was performed for the Intelligent Robotics Development Program, one of the 21st Century Frontier R&D Programs funded by the Ministry of Knowledge Economy of Korea.
Copyright:
Copyright 2010 Elsevier B.V., All rights reserved.
PY - 2010/3
Y1 - 2010/3
N2 - This paper introduces a face robot named 'Buddy' which can perform facial expressions, such as eye-tracking and lip synchronization, via movements of its facial elements (i.e., eyeballs, eyebrows, eyelids, and lips). Buddy has 14 degrees of freedom. To produce the realistic motion of Buddy, we built a 'Reactive Behavior Decision Model' which decides not only how to control the rotation angles and speed of facial elements, but to exhibit as well particular emotions that could express the robot's personality. Buddy's personality is formed in the model by the accumulated external stimuli and internal status. The process to automatically achieve reactive behavior in the model is classified into three steps: (1) to analyze the external stimuli and identify variations in Buddy's internal status; (2) to decide the type and degree of emotion based on the robot's personality; and (3) to generate specific facial expressions and gestures by combining the appropriate primitive behaviors chosen from emotion databases. By using this model, we have proven that Buddy can display various facial expressions and behaviors, at times very reasonable but quite unexpected.
AB - This paper introduces a face robot named 'Buddy' which can perform facial expressions, such as eye-tracking and lip synchronization, via movements of its facial elements (i.e., eyeballs, eyebrows, eyelids, and lips). Buddy has 14 degrees of freedom. To produce the realistic motion of Buddy, we built a 'Reactive Behavior Decision Model' which decides not only how to control the rotation angles and speed of facial elements, but to exhibit as well particular emotions that could express the robot's personality. Buddy's personality is formed in the model by the accumulated external stimuli and internal status. The process to automatically achieve reactive behavior in the model is classified into three steps: (1) to analyze the external stimuli and identify variations in Buddy's internal status; (2) to decide the type and degree of emotion based on the robot's personality; and (3) to generate specific facial expressions and gestures by combining the appropriate primitive behaviors chosen from emotion databases. By using this model, we have proven that Buddy can display various facial expressions and behaviors, at times very reasonable but quite unexpected.
KW - Emotional expression
KW - Face robot
KW - Human-robot interaction (HRI)
KW - Intelligent robot
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U2 - 10.1007/s12206-010-0118-9
DO - 10.1007/s12206-010-0118-9
M3 - Article
AN - SCOPUS:77949645687
SN - 1738-494X
VL - 24
SP - 769
EP - 774
JO - Journal of Mechanical Science and Technology
JF - Journal of Mechanical Science and Technology
IS - 3
ER -