IEEE Robotics & Automation Magazine - June 2019 - 42

Text

Emotion/ Face/
Expression Body

Background

Happy

Sad

Angry

Tired

Scared

Dizzy

Sleepy

Frustrated

Curious

Sniff

Sneeze

Want

Expression

Excited

(a)

(b)

Figure 2. Designing emotional expressions for the penguin: (a) the penguin character design layer and (b) 14 different emotional
expressions.

(stating the name of the emotion), emotional expression,
face structure, and background [Figure 2(a)]. The 14 emotional expressions were designed in accordance with these
methods and are depicted in Figure 2(b). Animations of
each of these expressions were also generated for a more
meaningful demonstration of emotional states.
Romo, the Embodied Penguin Robot
The robot originally came mounted on treads that allowed it
to execute physical movements, including forward, backward,
and left and right turn-at-an-angle motions. In addition, the
tilt angle of the iPod could be modified. We retained the original motion control scheme,
as illustrated in FigThe aim with this animated, ureĀ 3(a), but modified the
motion primitive design
to incorporate some emoemotionally capable agent
tion variations and sound
effects. In this manner,
was to design a computer
each robot behavior now
consisted of three basic
application that could
components: movement,
emotion (facial exprespotentially encourage ER
sion), and sound effects.
The movements were
skills in the user.
designed based on a spatial mapping of motion
primitives to emotion states [Figure 3(b)] derived from the
2D mapping of affect by Larsen and Diener [18]. A mapping
of the selected emotions was also identified on Russell's circumplex model [Figure 3(c)] [19]. These mappings provided
logical associations between robotic movements and social
behaviors and emotions while reinforcing social and emotional engagement through the physical movement stimulus
from the robot. For improved control of the robot during
child-robot interactive sessions, we also designed a
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IEEE ROBOTICS & AUTOMATION MAGAZINE

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JUNE 2019

Java-based server application with a graphical user interface
(GUI) (Figure 4) that incorporated several Romo functionalities, such as navigation, emotional expression, and a sensory
station-based activity, details of which are beyond the scope of
this article.
Consensus-Based Interaction Model
and ER With Romo
The aim with this animated, emotionally capable agent was
to design a computer application that could potentially
encourage ER skills in the user. To explore the effect of
empathy on successful ER, we also wanted our agent to be
empathetic in its emotional exchange with the user. To
achieve this goal, in addition to the capability of expressing
emotions, the ability to estimate users' emotional responses
and assess their engagement in the activity was essential.
This led to the design of a novel, consensus-based [20] emotional-interaction framework. Consensus theory provided an
interaction protocol for the exchange of information among
all agents in a network such that an agreement could be
reached regarding a quantity of interest that depends on the
states of all of the agents. The framework contained three
emotional agents: a human user, the emotionally expressive
penguin character, and an emotion goal state defined specifically to implement ER. We modeled the selected emotions
along the 2D circumplex model, as shown in Figure 3(c),
each represented by a numerical arousal-valence value pair.
Because all agents other than the human agent are controllable and exist in a bounded domain (bounded input, bounded
output), the consensus approach offered guaranteed convergence of multiagents.
The user's emotion state was represented as x U , and the
penguin's emotion state was represented as x P . A goal emotion state was defined as x G . In developing this approach, we
also designed additional mechanisms for emotional interaction, namely rapport formation and character bias. The



IEEE Robotics & Automation Magazine - June 2019

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