Abstract
Body language is an important part of human-to-human communication; therefore body language in humanoid robots is very important for successful communication and social interaction with humans. The number of degrees of freedom (d.o.f) necessary to achieve realistic body language in robots has been investigated. Using animation, three robots were simulated performing body language gestures; the complex model was given 25 d.o.f, the simplified model 18 d.o.f and the basic model 10 d.o.f. A subjective survey was created online using these animations, to obtain people's opinions on the realism of the gestures and to see if they could recognise the emotions portrayed. It was concluded that the basic system was the least realistic, complex system the most realistic, and the simplified system was only slightly less realistic than the human. Modular robotic joints were then fabricated so that the gestures could be implemented experimentally. The experimental results demonstrate that through simplification of the required degrees of freedom, the gestures can be experimentally reproduced.
Highlights
Body language is the physical movement of body parts due to muscle activation that would not be required for normal function
The animations were constructed without facial features or muscular shapes to try and ensure they produce no strong emotion without motion
This work has investigated the expression of emotion by the upperbody motion of humanoid robots
Summary
Body language is the physical movement of body parts due to muscle activation that would not be required for normal function. Often body language is displayed consciously to accentuate verbal communication or deliberately display a strong emotional response. Especially gestures, will be essential for natural communication between humanoid robotic systems and humans. There has been consideration of the body language of the SDR‐4X; extra degrees of freedom were added in the head and wrist to improve the expression of the robot [4]. MIT’s ‘Cog’, has a head, torso and arms but no legs It has 22 degrees of freedom, similar to a human. No conclusive work has demonstrated the importance of robotic body language for ease of human communication and the robots under development have different degrees of freedom and movement ranges. It is unlikely that the full complexities of human joints are required to be duplicated by a robotic system in order to display basic emotional responses. Create a humanoid arm with the same degrees of freedom as a human arm; telepresence applications
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