期刊名称：International Journal of Advanced Robotic Systems
印刷版ISSN：1729-8806
电子版ISSN：1729-8814
出版年度：2013
卷号：10
DOI：10.5772/55607
语种：English
出版社：SAGE Publications
摘要：This paper discusses the transference process of emotional states driven by psychological energy in the active field state space and also builds a robot expression model based on the Hidden Marov Models(HMM). Facial expressions and behaviours are two important channels for human-robot interaction. Robot performance based on a static emotional state cannot vividly display dynamic and complex emotional transference. Building a real-time emotional interactive model is a critical part of robot expression. First, the attenuating emotional state space is defined and the state transfer probability is acquired. Secondly, the emotional expression model based on the HMM is proposed and the performance transference probability is calculated. Finally, this model is verified by a 15 degrees of freedom robot platform. Moreover, the interactive effects are analysed by a statistical algorithm. The experimental results demonstrate that the emotional expression model can acquire an expressive performance and remove the mechanized interactive mode when compared to traditional algorithms.
关键词：Human-Robot Interaction; Emotional Expression; Active Field State Space; Dynamic Emotional Regulation; HMM; State Transference
