Integration of emotion expression and visual tracking locomotion based on Vestibulo-Ocular Reflex

摘要

Personal robots anticipated to become popular in the future are required to be active in joint work and community life with humans. These personal robots must recognize changing environment and must conduct adequate actions like human. Visual tracking can be said as a fundamental function from the view point of environmental sensing and reflex reaction against it. The authors developed a visual tracking motion algorithm by using upper body. Then, we integrated it with an online walking pattern generator and developed a visual tracking biped locomotion. Finally, we conducted an experimental evaluation with emotion expression.