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We have been developing emotion expression humanoid robots in order to develop new mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotions. In 2003, we introduced the "need model" to the robot mental model so that a robot could generate and express actively its behavior based on its mental state. We implemented the mental model with need in the emotion expression humanoid robot WE-4R (Waseda eye no.4 refined). We also studied the dynamics of a simple harmonic oscillator driven by the chaotic force. The bifurcation parameter of chaotic force is modulated by the position of the harmonic oscillator. We have been studying a system of many harmonic oscillators (neurons) interacting via a chaotic force by using these ideas since 2002. We propose a memory model using a chaotic neural network for human friendly communication. We implemented this model in emotional expression humanoid robot WE-4R.