An Analysis and Generation of Bunraku Puppet’s Motions Based on Linear Structure of Functional Factors, Emotional Factors and Stochastic Fluctuations for Generation of Humanoid Robots’ Actions with Fertile Emotions
Motofumi Hattori*, Masahiko Tsuji*, Satoshi Tadokoro*, Toshi Takamori* and Kazuhito Yamada**
*Department of Computer and Systerns Engineering, Faculty of Engineering, Kobe University, Rokkodai-cho, Nada-ku, Kobe 657, Japan
**Department of Literature, Doshisha University
Human robots must have actions with fertile emotions, in order to cooperate with human being. To clarify “what is the emotional factor of actions”, the authors analyze the actions of a Bunraku puppet. The observed action time series are modeled by a stochastic time evolutionequations (KM2O-Langevin equations) with exogenoussources which represent the sources of functional factors, emotional factors and stochastic fluctuation factors. The estimation method for KM2O-Langevin equations with exogenous sources is established. This method is verified by a numerical simulation.
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