有个性的仿人情感交互机器人研究与实验验证

项目名称： 有个性的仿人情感交互机器人研究与实验验证

项目编号： No.61273325

项目类型： 面上项目

立项/批准年度： 2013

项目学科： 自动化技术、计算机技术

项目作者： 柯显信

作者单位： 上海大学

项目金额： 80万元

中文摘要： 情感交互能力是人类智能的重要标志，仿人情感交互技术能够缩短机器人与人之间的情感距离。个性主要影响情感状态的启动并控制情感强度，通过引入心理学研究成果，使仿人情感机器人具有个性特点，提高人们对机器人的情感接受度。根据人类情感系统是一个多维、动态变化的、且初值敏感的非线性随机系统的特点，本研究应用马尔可夫模型描述机器人情绪状态的概率变迁，用马氏决策过程来计算情感状态与表情的映射关系，并融入个性特征，建立仿人表情机器人的个性化情感控制模型。建立情感－表情动作映射模型，对脸部皮肤表情动作、眼睛表情运动，以及与语音相对应的嘴部运动分别建立仿人控制模型，通过分级细化，实现机器人更为细腻逼真的多级表情强度的面部表情。改进与研制具有个性特点的仿人表情机器人实验验证系统，进行模仿人脸实现包括惊奇、恐惧、厌恶、愤怒、高兴和悲伤等连续表情交互动作的实验验证，并进行普通人对该个性机器人的接受度的实验和和统计分析。

中文关键词： 人机情感交互；个性；情感模型；仿人；

英文摘要： The capability of affective interactions is an important sign of human intelligence; emotion human-robot interaction can reduce the emotional distance between the robot and human. Personality mainly affects activation of an emotional state and the emotional intensity.Through the introduction of psychological researches, humanoid face robot has personalities would raise the emotional acceptance of a robot. For a human emotional system is multidimensional, dynamic changes, sensitive to the initial value, nonlinear stochastic systems, A Markov model is applied to describe the probability of changes of the robot's emotional state. A Markov decision process is used to calculate the emotional status and expression mapping. An emotional control model of the humanoid face robot with personality is established. The mapping model of emotion-facial motion is studied; human-simulated intelligent controllers for the facial skin, eye movement, and mouth movement corresponding to voice are established. Through the classification refinement, the robot can realize more lifelike facial expressions with more intensity levels. A humanoid face robot with personality characteristics is improved and developed. Experiments on facial emotion expressions, including surprise, fear, disgust, anger, pleasure and sadness are conducted to ver

英文关键词： Human-Robot Emotional；Personality；Emotional model；Humanoid；