Purpose This paper aims to deal with the problem of designing robot behaviors (mainly to robotic arms) to express emotions. The authors study the effects of robot behaviors from our humanoid robot NAO on the subject’s emotion expression in human–robot interaction (HRI). Design/methodology/approach A method to design robot behavior through the movement primitives is proposed. Then, a novel dimensional affective model is built. Finally, the concept of action semantics is adopted to combine the robot behaviors with emotion expression. Findings For the evaluation of this combination, the authors assess positive (excited and happy) and negative (frightened and sad) emotional patterns on 20 subjects which are divided into two groups (whether they were familiar with robots). The results show that the recognition of the different emotion patterns does not have differences between the two groups and the subjects could recognize the robot behaviors with emotions. Practical implications Using affective models to guide robots’ behavior or express their intentions is highly beneficial in human–robot interaction. The authors think about several applications of the emotional motion: improve efficiency in HRI, direct people during disasters, better understanding with human partners or help people perform their tasks better. Originality/value This paper presents a method to design robot behaviors with emotion expression. Meanwhile, a similar methodology can be used in other parts (leg, torso, head and so on) of humanoid robots or non-humanoid robots, such as industrial robots.
SUMMARYHuman-like motion of robots can improve human–robot interaction and increase the efficiency. In this paper, a novel human-like motion planning strategy is proposed to help anthropomorphic arms generate human-like movements accurately. The strategy consists of three parts: movement primitives, Bayesian network (BN), and a novel coupling neural network (CPNN). The movement primitives are used to decouple the human arm movements. The classification of arm movements improves the accuracy of human-like movements. The motion-decision algorithm based on BN is able to predict occurrence probabilities of the motions and choose appropriate mode of motion. Then, a novel CPNN is proposed to solve the inverse kinematics problems of anthropomorphic arms. The CPNN integrates different models into a single network and reflects the features of these models by changing the network structure. Through the strategy, the anthropomorphic arms can generate various human-like movements with satisfactory accuracy. Finally, the availability of the proposed strategy is verified by simulations for the general motion of humanoid NAO.
As robots get closer to humans, higher requests to robots are put forward. Human-like motion is one of those important issues, especially for humanoid service robots, advanced industrial robots and assistive robots. In this paper, a motion-decision algorithm is proposed and applied to human-like motion planning of robotic arms. The algorithm consists of two parts: intelligent decision and calculation of the joint trajectory. The former includes two parts: the hierarchical planning strategy (HPS) and the Bayesian decision. The HPS reflects the general rules of human arm movements and the robotic arms using the HPS can simulate the movements of human arms accurately. The Bayesian decision is used to make robotic arms choose an appropriate mode of motion. The calculation of the joint trajectory builds a motion framework of robotic arms to generate human-like movements. The human performance measures (HPMs) in different planning hierarchies are proposed. Finally, the validity of the proposed algorithm is verified by experiments.
As a single-layer feedforward network (SLFN), extreme learning machine (ELM) has been successfully applied for classification and regression in machine learning due to its faster training speed and better generalization. However, it will perform poorly for domain adaptation in which the distributions between training data and testing data are inconsistent. In this article, we propose a novel ELM called two-stage transfer extreme learning machine (TSTELM) to solve this problem. At the statistical matching stage, we adopt maximum mean discrepancy (MMD) to narrow the distribution difference of the output layer between domains. In addition, at the subspace alignment stage, we align the source and target model parameters, design target cross-domain mean approximation, and add the output weight approximation to further promote the knowledge transferring across domains. Moreover, the prediction of test sample is jointly determined by the ELM parameters generated at the two stages. Finally, we investigate the proposed approach in classification task and conduct experiments on four public domain adaptation datasets. The result indicates that TSTELM could effectively enhance the knowledge transfer ability of ELM with higher accuracy than other existing transfer and non-transfer classifiers.
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