IEEE Robotics & Automation Magazine - June 2019 - 43

consensus equation could then be formed as shown in (1),
where a P is the approach rate:
xo P = a P / (x j - x P) .

(1)

j

Here, j is a function of G and U. The character emotion
selection function, C (), is then computed to determine the
next penguin emotion state:

C l = C ^x P + xo P h .

(2)

As mentioned previously, the three key states in this method are the user's emotion state, the penguin character's emotion state, and a fixed predetermined goal emotion state
toward which the penguin steers the user. To form a rapport
with the user, the penguin first dynamically allocates a temporary goal state that approaches the state of the user; then it
gradually moves this temporary goal state closer to

Speed
Excited/Happy
Angry
Angle:

+

+

Angle:

-

-

Radius: -

+

Radius: +

-

Speed: -

-

Speed: -

-

Angle:

-

-

Angle:

+

+

Radius: +

-

Radius: +

-

Speed: +

+

Speed: +

+

Irritated
Casual
Stroll

Run
Dance/
Carry Out
Task?

Search

Reg. Tempo
Walk/Move

Motion Range
Slow
Explorer

Slow
Wander

Not
Interested
Sad/Depressed

Curious/Interested

(a)

(b)
Arousal
Pleasure

Anger

Astonished

Afraid
Angry
Frustrated

Excited
Alarmed
Aroused

Tense

Happy
Delighted

Annoyed
Glad
Pleased

Curious

Distressed
Dizzy

Valence
Content
Satisfied

Miserable
Depressed

Sad

Serene

At Ease
Calm

Gloomy

Bored
Sad

Relaxed

Tired

Droopy

Sleepy

Relaxed

(c)
Figure 3. Emotion-relevant robot motion design: (a) Romo's turn-angle control scheme, (b) a mapping of motion primitives on the
spatial domain with emotional variations, and (c) a mapping of emotion's on Russell's circumplex model. Reg.: regular.

JUNE 2019

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IEEE ROBOTICS & AUTOMATION MAGAZINE

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43



IEEE Robotics & Automation Magazine - June 2019

Table of Contents for the Digital Edition of IEEE Robotics & Automation Magazine - June 2019

Contents
IEEE Robotics & Automation Magazine - June 2019 - Cover1
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