Emotional Gait Generation for a Humanoid Robot

作     者：Lun Xie Zhi-Liang Wang Wei Wang Guo-Chen Yu School of Information Engineering, University of Science and Technology Beijing, Beijing 100083, PRC 

作者机构：School of Information Engineering University of Science and Technology Beijing Beijing PRC 

出 版 物：《International Journal of Automation and computing》 (国际自动化与计算杂志（英文版）)

年 卷 期：2010年第7卷第1期

页      面：64-69页

核心收录：

学科分类：080202[工学-机械电子工程] 08[工学] 0804[工学-仪器科学与技术] 0802[工学-机械工程] 0701[理学-数学] 0811[工学-控制科学与工程] 080101[工学-一般力学与力学基础] 0812[工学-计算机科学与技术（可授工学、理学学位）] 0801[工学-力学（可授工学、理学学位）] 

基　　金：supported by National High Technology Research and Development Program of China (863 Program)(No.2007AA04Z218) 

主　　题：Emotional mathematical model humanoid robot hidden Markov chain stimulating transition process gait generation. 

摘      要：In this paper, an emotional mathematical model and affective state probability description space of a humanoid robot are set up on the basis of psycho-dynamics＇ psychological energy and affective energy conservation law. The emotional state transferring process and hidden Markov chain algorithm of stimulating transition process are then studied. The simulation results show that the mathematical model is applicable to the authentic affective state change rule of human beings. Finally, the gait generation experiment results of control signal and electric current tracking wave-form are presented to demonstrate the validity of the proposed mathematical model.