表情机器人的动态情绪调节过程研究-控制理论与应用.PDF

28 7 Vol. 28 No. 7 2011 7 Control Theory Applications Jul. 2011 :2011 , , , , (1. , 150001; 2. , 100083; 3. , 100083; 4. , 062552) : , . , , . Gross , , , , . , 23 . , , . , , . : ; ; ; ; : TP273 : A Dynamic regulation process of facial expression robot LIU Xin , XIE Lun , YANG Wen-xiang , WANG Zhi-liang , FU Sheng-sen (1. State Key Laboratory of Robotics and System, Harbin Institute of Technology, Harbin Heilongjiang 150001, China; 2. School of Automation Electrical Engineering, University of Science Technology Beijing, Beijing 100083, China; 3. School of Computer Communication Engineering, University of Science Technology Beijing, Beijing 100083, China; 4. Beijing Hua Tong Xin Lian Technology Co Ltd, Renqiu Hebei 062552, China) Abstract: This paper deals with the emotion state-space model and the implementation of robot facial expression based on the probabilistic finite-state machine for the dynamic emotion regulation. The emotion state space is defined and the stimulating transition probabilities of different emotion state are acquired. The inhibitory characteristic coefficient and the human machine relationship coefficient are merged with Grossian emotional regulation process. The corresponding performances of parameters are enhanced using the genetic algorithm optimization and the real-time regulation of self- adaptive mutation probabilistic operator and cross-over operator. The quantitative analysis of the model parameters is made. The results generated by the emotion