Trajectory Tracking Control of Omni-directional Wheeled Robot for Lower Limbs Rehabilitative Training

摘要

To make the communication between robot and human more natural, a robot emotion generation and decisionmaking model based on personality is proposed. The mappings from personality space to emotion space and from emotion space to multiple behavior outputs are established. Personality space and emotion space are described. The mapping relationship between them is established via the PAD (pleasure-arousal-dominance) space, and an equation based on Cathexis model based on personality for updating the emotion is induced, so that the real-time emotion state can be obtained. The robot emotion decision-making model based on personality is designed, and with that model, any composite emotion's corresponding behavior output can be calculated after the mappings from basic emotions to basic actions are established, then the lattice degree of approaching method is used to decide whether or not to execute the actions. Experiments are carried out on platform "Funiu" robot, and results verify the validity and practicality of the method.