Behavior Expressions for Social and Entertainment Robots

摘要

Future social robot and robot actor should have natural, interesting and unique motions and facial gestures. Creating such motions is very difficult and time consuming for the animator. The concept of expressing social robot motions and behaviors using algebraic expressions is discussed. We present representation of behaviors at the lowest levels e.g. vectors of joint angles. Mathematical formalism of the framework is outlined and the role of probabilistic behaviors is stressed. Several examples illustrate these ideas using our language REBeL and a humanoid robot Mr. Jeeves created by us.