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An anthropomorphic head-eye robot expressing emotions based on equations of emotion

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5 Author(s)
Takanishi, A. ; Dept. of Mech. Eng., Waseda Univ., Tokyo, Japan ; Sato, K. ; Segawa, K. ; Takanobu, H.
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The authors have been developing anthropomorphic head-eye robots, in order to elucidate the human vision system from an engineering point of view, and to develop a new head mechanism and function for a humanoid robot having the ability to communicate naturally with a human. We developed an anthropomorphic head-eye robot “WE-3R III” (Waseda Eye No.3 Refined III) having auditory sensation, cutaneous sensation and a facial expression mechanism with eyes, eyelids, eyebrows, lips, a jaw and a neck. It is said that the human cutaneous sensations include contact, pressure, cold, warmth and pain, so a tactile sensor and a temperature sensor were mounted on the robot. For the tactile sensor, we adopted a force sensing resistor. We think that the difference in touching methods such as `push', `stroke' and `hit' have an effect on emotion, therefore we developed the method for recognizing those differences, and installed it in the robot. By improving and rebuilding the artificial psychological model of WE-3RII using a new concept-equations of emotion-in a 3D mental space, we realized expression of the mental state affected by various stimuli with WE-3R III

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Robotics and Automation, 2000. Proceedings. ICRA '00. IEEE International Conference on  (Volume:3 )

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