具情感狀態之機器人其行為控制架構之設計

Design of a Behavior-Based Control System for a Robot with Emotional States

林冠廷(Guan-Ting Lin)

指導教授 ： 季永炤

國立虎尾科技大學/工程學院/機械與機電工程研究所/碩士(2010年)

https://doi.org/10.6827/NFU.2010.00054

摘要

本文在於討論對於具有情感狀態之社交機器人其行為產生與控制系統之設計與建構。機器人可藉由數種感測器之輸入並結合內部情感模型之輸出而可產生聲音、眼睛變化、身體姿態擺動等特殊之行為形式來表達內部情緒狀態，使其具備與人類或其他機器人進行情感性溝通之能力。
本研究所發展之系統架構共分為感知層(sense/perceptive layer)、心理層(mental layer)、行為層(behavior layer)三個區塊，感知層將感測器所接收資訊，經由影像辨識及感測訊號處理方式，將環境資訊特徵化並定義對其系統認知意義，以達成機器人所需要之視覺、觸覺兩種環境認知能力；心理層則是以二維情感平面(two-dimensional emotional plane)之概念建構其內部情感狀態模型，由感知層所產生感官刺激及外在時間變化透過“二階情感方程式”(Second Order Equations of Emotion)映射至其二維情感狀態空間而產生機器人其內部情感狀態；行為層則是以行為式控制架構來建構，其並結合感知層與心理層之輸出來進行行為仲裁，以管理機器人之聲音、眼睛圖形、肢體動作等之行為輸出形式來表達其內部情緒狀態。
最後將發展系統在個人電腦以軟體LabVIEW進行系統整合，並執行系統與使用者進行互動交流加以驗證。

關鍵字

社交機器人 ； 情緒模型 ； 二階情感方程式

並列摘要

This paper presents the design and construction of the behavior control system for a social robot with internal emotion model. Combining with the outputs of sensors and the internal emotion model, the robot outputs certain behavior which includes vocal sound, eyes expression, and body motion enabling it to communication with the human host or other robot.
The control system of the developed robot is composed of three functional layers; sense/perception layer, mental layer, and behavior layer. The image and sensors inputs are preprocessed by the sense/perception layer for the robot to percept the environmental information characteristics and extract the features of the environment that it is situated. The mental layer deduces the emotion state of the robot on a two dimensional emotion space based on a second order equation of emotion. The behavior layer is a behavioral-based controller which outputs behavior of the robot in reacts of the outputs of sense/perception layer and mental layer. A personal computer is integrated with the robot as an experimental robot system to verify the function of this sociable robot system.
The developed control system is constructed on a personal computer using the LabVIEW? as the software interface.The system is tested through a physical robot to prove the validity of the system.

並列關鍵字

Social Robot ； Emotion model ； Second order emotion function

參考文獻

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