Perception of Emotional Gait-like Motion of Mobile Humanoid Robot Using Vertical Oscillation

Yagi, Satoshi; Ise, Naoki; Yu, Shiqi; Nakata, Yoshihiro; Nakamura, Yutaka; Ishiguro, Hiroshi

doi:10.1145/3371382.3378319

Cited by 8 publications

(11 citation statements)

References 20 publications

Supporting

Mentioning

Contrasting

Order By: Relevance

“…Citation information: DOI 10.1109/ACCESS.2021.3110160, IEEE Access TABLE 5. Summary of emotional expression recognition by walking motions of robots in previous researches: this study (Human and ibuki), the previous ibuki'20 study by [28], Wabian-2R [12]) and the original CG by [29], and Nao by [13] and the original CG by [7]. watched the emotional gait-induced upper body motions.…”

Section: Discussionmentioning

confidence: 94%

“…For reference, we summarize our results and previous research of emotional expression of robot walking motion here. Table 5 shows the robot height, the survey scale, the number of question answer options, and recognition rates of emotional expression of robot walking in previous research: ibuki'20 [28], Wabian-2R [12], CG of Wabian-2R [29], Nao [13], and CG of human animation [7].…”

Section: Discussionmentioning

confidence: 99%

“…In previous research [28], we investigated ibuki gaitinduced upper body motions based on Destephe's data [30], adding simple cosine wave VOM movements. Recognition rates at ibuki'20 in Table 5 are under the condition of 0.8x speed and simple cosine wave vertical oscillation (there were four conditions by combining [0.6x, 0.8x speed] x [with, without vertical oscillation]).…”

Section: Discussionmentioning

confidence: 99%

See 2 more Smart Citations

Perception of Emotional Expression of Mobile Humanoid Robot Using Gait-Induced Upper Body Motion

Yagi¹,

Nakata

Nakamura

et al. 2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

Humans can express their emotions with not only facial expressions or gestures but also whole-body motion, even while walking, which are essential for our interpersonal relationships and our interaction with others. Communication with people is also considered an important task for robots, however emotional expressions by wheeled mobile humanoid robots when moving has not been well studied. In this paper, we implemented emotional human-like gait-induced upper body motion in a mobile android ibuki. We hypothesize that the gait-induced upper body motion with vertical oscillation enhances the human perception of a mobile robot's emotional expressions. ibuki is a mobile robot, which has a vertical oscillation mechanism, which enables the robot to move its body with a human gait-induced upper body motion. We ran two experiments in which participants watched videos of ibuki moving in a room expressing different emotions -anger, happiness, and sadness -, before answering how they perceived the emotion and their respective confidence level in their answer. Our results show that for motions with vertical oscillation, recognition rates were: 56.0 % for anger, 77.7 % for happiness, and 97.0 % for sadness. We also found that the recognition rate and confidence level of motions expressing happiness with vertical oscillation were higher. Our results play an important role in opening up avenues for more natural ways of interaction between humans and robots. For example, by approaching humans closer while expressing emotions, a robot can naturally provide an opportunity to get started conversation with them.

show abstract

Section: Discussionmentioning

confidence: 94%

Section: Discussionmentioning

confidence: 99%

Section: Discussionmentioning

confidence: 99%

See 1 more Smart Citation

Perception of Emotional Expression of Mobile Humanoid Robot Using Gait-Induced Upper Body Motion

Yagi¹,

Nakata

Nakamura

et al. 2021

IEEE Access

Self Cite

View full text Add to dashboard Cite

show abstract

“…This study only focused on grip timing and duration to convey emotions in human-robot touch interaction. However, such other modalities in verbal/non-verbal behaviors as facial expressions [1][2][3][4], whole-body gestures [5,6], and voice characteristics like tone or pitch [7,8] are also critical in real settings. Mixing different modalities might increase the perceived empathy, but heeding appropriate behavior designs of each modality is needed to avoid mismatch expressions.…”

Section: B Different Modalities and Touch Characteristicsmentioning

confidence: 99%

“…xpression of emotional behaviors is an essential capability for social robots that interact with people in daily settings. Many robotics researchers have focused on developing robot hardware with enough degrees of freedoms (DOFs) to express various emotions by facial expressions [1][2][3][4], whole-body motions [5,6], and voice characteristics [7,8] as well as models that express appropriate emotions in interaction contexts [9,10]. These studies mainly used humanoid robots because human-like appearances and modalities are easily understandable for humans, but emotion expression models are not limited to such human-like robots.…”

Section: Introductionmentioning

confidence: 99%

Modeling the Timing and Duration of Grip Behavior to Express Emotions for a Social Robot

Zheng

Shiomi²,

Minato³

et al. 2021

IEEE Robot. Autom. Lett.

Self Cite

View full text Add to dashboard Cite

This study addresses the effects of grip timing to express a robot's emotions to people while they are watching a video stimulus together. Past studies on human-robot touch interaction focused on the types of touch behaviors for expressing a robot's emotion, but timing factors have received less attention. In this study, we conducted data collection to investigate the appropriate grip timing to express heartwarming and horror emotions. Participants identified touch (grip) timing and durations by using a robot while they are watching video stimuli. Typically, they preferred a grip timing before a climax for horror videos but after a climax for heartwarming videos. We modeled the timing and durations by a fitting approach to probabilistic distribution to reproduce human-like touch behaviors, and also we implemented the models to an android robot.

show abstract

Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

Nakata

Yagi

et al. 2021

Robotica

Self Cite

View full text Add to dashboard Cite

In this paper, we present an electrically driven childlike android named ibuki equipped with a wheeled mobility unit that enables it to move in a real environment. Since the unit includes a vertical oscillation mechanism, the android can replicate the movements of the human center of mass and can express human-like upper-body movements even when moving by wheels. Moreover, providing 46 degrees of freedom enables it to perform various human-like physical expressions. The development of ibuki, as well as the implementation and testing of several functions, is described. Finally, we discuss the potential advantages and future research direction of a childlike mobile android.

show abstract

Perception of Emotional Gait-like Motion of Mobile Humanoid Robot Using Vertical Oscillation

Cited by 8 publications

References 20 publications

Perception of Emotional Expression of Mobile Humanoid Robot Using Gait-Induced Upper Body Motion

Perception of Emotional Expression of Mobile Humanoid Robot Using Gait-Induced Upper Body Motion

Modeling the Timing and Duration of Grip Behavior to Express Emotions for a Social Robot

Development of ‘ibuki’ an electrically actuated childlike android with mobility and its potential in the future society

Contact Info

Product

Resources

About