Abstract
Emotion plays a powerful role in human interaction with robots. In order to express more human-friendly emotions, robots need the capability of contextual appraisal that expresses the emotional relevance of various targets in the spatiotemporal situation. In this paper, an emotional appraisal methodology is proposed to cope with such contexts. Specifically, the Ortony, Clore, and Collins model is abstracted and simplified to approximate an emotional appraisal model in the form of a sentence-based cognitive system. The contextual emotion appraisal is modeled by formulating the emotional relationships among multiple targets and the emotional transition with events and time passing. To verify the proposed robotic system’s feasibility, simulations were conducted for scenarios where it interacts with humans manipulating liked or disliked objects on a table. This experiment demonstrated that the robot’s emotion could change over time like humans by using a proposed formula for emotional valence, which is moderated by emotion appraisal of occurring events.
Highlights
As the technology of human–robot interaction (HRI) matures, the idea of robots being companions of humans in their daily lives is becoming popular
This paper focuses on emotion appraisal of robot to agents, objects, their mutual events, and the linguistic descriptive model for being applied to robot cognitive systems
The proposed emotion appraisal system built on the sentential cognitive system (SCS) of a robot could be of practical use in human-friendly emotional interactions between human and robots
Summary
As the technology of human–robot interaction (HRI) matures, the idea of robots being companions of humans in their daily lives is becoming popular. It is difficult to consider these studies as full contextual emotion appraisals because they appraise emotions based on objects or events at points in time, rather than in a context extending from past to present. An emotion appraisal system based on the cognitive context of robots is proposed. The contributions of this paper are as follows: (1) a contextual emotion appraisal model abstracting and simplifying the OCC model is implemented in a SCS of a cognitive robot. (2) The suggested emotion appraisal model provides the principal contextual characteristics by formulating the emotional valence related among the targets of objects, agents, and events and introducing emotional transition according to the events interrelated with the targets.
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