{"id":2328,"date":"2018-11-10T15:08:49","date_gmt":"2018-11-10T06:08:49","guid":{"rendered":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/?p=2328"},"modified":"2018-11-10T19:35:21","modified_gmt":"2018-11-10T10:35:21","slug":"%e3%82%a2%e3%83%96%e3%82%b9%e3%83%88%e7%b2%be%e8%aa%ad-emotional-architecture-for-the-humanoid-robot-head-roman-by-j-hirth-2007","status":"publish","type":"post","link":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/?p=2328","title":{"rendered":"[\u6982\u8981\u7cbe\u8aad] “Emotional Architecture for the Humanoid Robot Head ROMAN” by J. Hirth+, 2007"},"content":{"rendered":"

\u30a2\u30d6\u30b9\u30c8\u30e9\u30af\u30c8\u306e\u7cbe\u8aad\u306b\u3088\u3063\u3066\uff0c\u672c\u6587\u3092\u3067\u304d\u308b\u3060\u3051\u697d\u306b\u8aad\u3081\u308b\u3088\u3046\u306b\u6e96\u5099\u3092\u3059\u308b\uff0e\u4eca\u56de\u8aad\u3080\u6587\u732e\u306f\u3053\u308c\uff0e<\/p>\n

\u6587\u732e\u60c5\u5831<\/h4>\n

Jochen Hirth, Norbert Schmitz, and Karsten Berns. 2007. \u201cEmotional Architecture for the Humanoid Robot Head ROMAN.\u201d Proceedings of International Conference on Robotics and Automation, 2150\u201355.<\/a>\u00a0<\/p>\n

\u30c9\u30a4\u30c4\u306eUniversity of Kaiserslautern\u306e\u30c1\u30fc\u30e0\u306e\u56fd\u969b\u4f1a\u8b70\u8ad6\u6587\uff0e\u30bf\u30a4\u30c8\u30eb\u304b\u3089\uff0cROMAN\u3068\u3044\u3046\u4eba\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u982d\u306b\u4f7f\u3046\u305f\u3081\u306eEmotional Architecture\u3092\u4f5c\u3063\u305f\u3053\u3068\u306e\u5831\u544a\u3067\u3042\u308b\u3053\u3068\u304c\u5206\u304b\u308b\uff0e\u30ad\u30fc\u30ef\u30fc\u30c9\u306f\uff0chumanoid robot head, emotional architecture, behavior based control\u306a\u306e\u3067\uff0c\u30bf\u30a4\u30c8\u30eb\u901a\u308a\uff0cemotional architecture\u3092humanoid robot head\u306b\u3044\u308c\u3066behovior based control\u3092\u884c\u3063\u305f\u7814\u7a76<\/strong>\u3068\u3044\u3046\u7406\u89e3\u3067\u554f\u984c\u306a\u3055\u305d\u3046\u3060\uff0e<\/p>\n

Abstract<\/h4>\n

\u307e\u305a\u306f\u30a2\u30d6\u30b9\u30c8\u3092\u3057\u3063\u304b\u308a\u3068\u8aad\u3093\u3067\uff0c\u8ab2\u984c-\u6839\u5143\u306e\u554f\u984c-\u89e3\u6c7a\u30a2\u30a4\u30c7\u30a2-\u7d50\u679c-\u7d50\u8ad6\u306e\u5bfe\u5fdc\u3092\u53ef\u80fd\u306a\u9650\u308a\u628a\u63e1\u3057\uff0c\u672c\u6587\u3067\u306e\u8981\u78ba\u8a8d\u4e8b\u9805\u3092\u6574\u7406\u3059\u308b\uff0e\u8981\u78ba\u8a8d\u4e8b\u9805\u304c\u306a\u3051\u308c\u3070\uff0c\u5f53\u9762\u306f\u30a2\u30d6\u30b9\u30c8\u8aad\u307f\u3060\u3051\u3067\u7d42\u3048\u308b\uff0e<\/p>\n

\u307e\u305a\u306f\uff11\uff0c\uff12\u884c\u76ee\uff0e<\/p>\n

\n

Humanoid robots as assistance or educational robots is an important research topic in the field of robotics. Especially the communication of those robots with a human operator is a complex task since more than 60% of human communication is conducted non-verbally by using facial expressions and gestures.<\/p>\n<\/blockquote>\n

\uff11\u884c\u76ee\u306f\u5358\u306b\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u80fd\u529b\u304c\u91cd\u8981\u306a\u30ed\u30dc\u30c3\u30c8\u3092\u5bfe\u8c61\u306b\u3057\u305f\u7814\u7a76\u3060\u3088\uff0c\u3068\u3044\u3046\u5bfe\u8c61\u9650\u5b9a\u306e\u5ba3\u8a00\uff0e\uff12\u884c\u76ee\u304c\u8ab2\u984c\u306e\u8aac\u660e\u3060\u3068\u601d\u308f\u308c\u308b\uff0e\u4eba\u304c\u30ed\u30dc\u30c3\u30c8\u3092\u9060\u9694\u64cd\u4f5c\u3057\u3066\u5225\u306e\u4eba\u3068\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u3092\u3068\u308d\u3046\u3068\u3059\u308b\u3068\u304d\u306b\uff0c\u8868\u60c5\u3084\u30b8\u30a7\u30b9\u30c1\u30e3\u3092\u64cd\u4f5c\u3059\u308b\u306e\u304c\u5927\u5909\u3059\u304e\u308b\u304b\u3089\u306a\u3093\u3068\u304b\u7c21\u5358\u306b\u3057\u305f\u3044\uff0c\u3068\u3044\u3046\u306e\u304c\u8ab2\u984c<\/strong>\u3067\u3042\u308b\u3089\u3057\u3044\uff0e\u8ab2\u984c\u628a\u63e1\u306f\u3068\u308a\u3042\u3048\u305a\uff2f\uff2b\uff0e<\/p>\n

\u305d\u308c\u306b\u7d9a\u304f\uff13\u884c\u76ee\u3067\u306f\uff0c<\/p>\n

\n

Although several humanoid robots have been designed it is unclear how a control architecture can be developed to realize a robot with the ability to interact with humans in a natural way.<\/p>\n<\/blockquote>\n

\u3068\u3042\u308b\u306e\u3067\uff0c\u3053\u308c\u304c\u6839\u5143\u306e\u554f\u984c\u304b\uff0e\u8ab2\u984c\u304c\u3053\u308c\u307e\u3067\u89e3\u6c7a\u3067\u304d\u306a\u304b\u3063\u305f\u306e\u306f\uff0c\u81ea\u7136\u306b\u4eba\u3068\u3084\u308a\u53d6\u308a\u3059\u308b\u305f\u3081\u306e\u5236\u5fa1\u306e\u4ed5\u7d44\u307f\u3092\u8ab0\u3082\u306f\u3063\u304d\u308a\u3055\u305b\u306a\u3044\u307e\u307e\u30ed\u30dc\u30c3\u30c8\u3092\u4f5c\u3063\u3066\u304d\u305f\u304b\u3089\u3060<\/strong>\uff0c\u3068\u8a00\u3044\u305f\u3044\u3088\u3046\u3060\uff0e\u8ab2\u984c\u3068\u6839\u5143\u306e\u554f\u984c\u306e\u30de\u30c3\u30c1\u30f3\u30b0\u306f\u4e71\u66b4\u3060\u304c\uff0c\u3072\u3068\u307e\u305a\u5bfe\u5fdc\uff2f\uff2b<\/strong>\u3068\u3057\u3066\u5148\u3092\u8aad\u3080\uff0e<\/p>\n

\uff14\uff0c5\u884c\u76ee\u306b\u306f\uff0c<\/p>\n

\n

This paper therefore presents a behavior-based emotional control architecture for the humanoid robot head ROMAN. The architecture is based on 3 main parts: emotions, drives and actions which interact with each other to realize the human-like behavior of the robot.<\/p>\n<\/blockquote>\n

\u3068\u3042\u308b\u306e\u3067\uff0c\u3053\u308c\u304c\u89e3\u6c7a\u306e\u30a2\u30a4\u30c7\u30a2\u3089\u3057\u3044\uff0eTherefore\uff0c\u3068\u66f8\u3044\u3066\u3042\u308b\u306e\u3067\u9593\u9055\u3044\u306a\u3055\u305d\u3046\uff0eROMAN\u3068\u3044\u3046\u4eba\u578b\u30ed\u30dc\u30c3\u30c8\u306e\u982d\u3092\u4f7f\u3046\u3079\u304d\u7406\u7531\u306f\u66f8\u304b\u308c\u3066\u3044\u306a\u3044\u306e\u3067\uff0c\u304a\u305d\u3089\u304f\u3053\u308c\u306f\u5358\u306a\u308b\u984c\u6750\u3067\uff0c\u5927\u4e8b\u306a\u89e3\u6c7a\u306e\u809d\u306f”behavior-based emotional control architecture”\u306a\u308b\u3082\u306e<\/strong>\u306b\u3042\u308b\u3088\u3046\u3060\uff0e\u3053\u306earchitecture\u306f\uff0cemotions, drives, actions\u3068\u3044\u3046\u4e09\u3064\u306e\u90e8\u5206\u304b\u3089\u3067\u304d\u3066\u3044\u3066\uff0c\u305d\u308c\u3089\u304c\u76f8\u4e92\u4f5c\u7528\u3059\u308b\u3053\u3068\u3067\u30ed\u30dc\u30c3\u30c8\u306e\u632f\u821e\u304c\u4eba\u3089\u3057\u304f\u306a\u308b\u3089\u3057\u3044\uff0e\u4eba\u3089\u3057\u304f\u632f\u821e\u308f\u305b\u308b\u305f\u3081\u306e\u4ed5\u7d44\u307f\u304c\u306a\u3044\u3068\u3044\u3046\u306e\u3092\u6839\u5143\u306e\u554f\u984c\u3068\u3057\u3066\u6319\u3052\u3066\u3044\u305f\u306e\u3067\uff0c\u554f\u984c\u3068\u30a2\u30a4\u30c7\u30a2\u306e\u30de\u30c3\u30c1\u30f3\u30b0\u306f\uff2f\uff2b\uff0e\u305f\u3060\u3057\uff0c\u305d\u308c\u305e\u308c\u306e\u90e8\u5206\u304c\u3069\u306e\u3088\u3046\u306a\u6a5f\u80fd\u3092\u6301\u3063\u3066\u3044\u3066\uff0c\u305d\u308c\u3089\u304c\u3069\u306e\u3088\u3046\u306b\u76f8\u4e92\u4f5c\u7528\u3057\u3066\u30ed\u30dc\u30c3\u30c8\u306e\u632f\u821e\u3092\u6c7a\u5b9a\u3059\u308b\u306e\u304b\u306e\u8a73\u7d30\u306f\u66f8\u304b\u308c\u3066\u3044\u306a\u3044\u306e\u3067\uff0c\u3053\u308c\u3092\u672c\u6587\u3067\u306e\u8981\u78ba\u8a8d\u4e8b\u9805\u2460\u3068\u3059\u308b\uff0e\u307e\u305f\uff0c\u3082\u3057\u304b\u3059\u308b\u3068ROMAN\u306e\u4ed5\u69d8\u3068\u306e\u95a2\u9023\u3067\u3053\u306earchitecture\u306e\u6027\u80fd\u304c\u5909\u308f\u308b\u304b\u3082\u3057\u308c\u306a\u3044\u306e\u3067\uff0cROMAN\u306e\u4ed5\u69d8\u3068architecture\u306e\u95a2\u308a\u3082\u8981\u78ba\u8a8d\u4e8b\u9805\u2461\u3068\u3059\u308b\uff0e\u3053\u3053\u307e\u3067\u306f\u6982\u306d\u6df7\u4e71\u306a\u304f\u8aad\u3081\u305f\uff0e<\/p>\n

\u7d9a\u304f6, 7\u884c\u76ee\u3067\u306f\u3053\u306e\u30a2\u30a4\u30c7\u30a2\u304c\u6839\u5143\u306e\u554f\u984c\u306e\u89e3\u6c7a\u306b\u3069\u308c\u3060\u3051\u8ca2\u732e\u3057\u305f\u306e\u304b\u306e\u7d50\u8ad6\u3068\u305d\u308c\u3092\u652f\u3048\u308b\u5b9a\u91cf\u7684\u306a\u7d50\u679c\u304c\u8ff0\u3079\u3089\u308c\u3066\u3044\u3066\u6b32\u3057\u3044\uff0e\u3057\u304b\u3057\uff0c\u8aad\u3093\u3067\u307f\u308b\u3068\uff0c<\/p>\n

\n

The communication with the environment is realized with the help of different sensors and actuators which will also be introduced in this paper.<\/p>\n<\/blockquote>\n

\u3068\u306e\u3053\u3068\u3067\uff0c\u5927\u6df7\u4e71\u306b\u9665\u3063\u305f\uff0e\u7d50\u8ad6\u306e\u3088\u3046\u306a\u5f62\u5f0f\u3067\u66f8\u3044\u3066\u3042\u308b\u3082\u306e\u306e\uff0c\u305d\u308c\u307e\u3067\u306e\u8a71\u3068\u306e\u5bfe\u5fdc\u304c\u3068\u308c\u306a\u3044<\/strong>\uff0e\u307e\u305a\uff0c\u5404\u7a2e\u30bb\u30f3\u30b5\u3068\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u306e\u52a9\u3051\u3067environment\u3068\u306e\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u304c\u5b9f\u73fe\u3067\u304d\u305f\uff0c\u3068\u8a00\u3063\u3066\u3044\u308b\u304c\uff0c\u305d\u306eenvironment\u3068\u306f\u4f55\u306a\u306e\u304b\uff1f\u4eba\u306f\u5fc5\u305a\u542b\u3093\u3067\u3044\u308b\u3068\u601d\u3046\u304c\uff0c\u306a\u305c\u3042\u3048\u3066environment\u3068\u8868\u73fe\u3057\u3066\u3044\u308b\u306e\u304b\uff1f\u307e\u305f\uff0c\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u73fe\u3092\u52a9\u3051\u308b\u306e\u306f\uff13\u30e2\u30b8\u30e5\u30fc\u30eb\u306e\u76f8\u4e92\u4f5c\u7528\u3060\u3068\u8a00\u3063\u3066\u3044\u305f\u306e\u306b\uff0c\u305d\u308c\u304c\u306a\u305c\u30bb\u30f3\u30b5\u3068\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u306e\u52a9\u3051\u3068\u3044\u3046\u8868\u73fe\u306b\u5909\u308f\u3063\u3066\u3044\u308b\u306e\u304b\uff1f\u3055\u3089\u306b\uff0c\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u304c\u5b9f\u73fe\u3055\u308c\u305f\u3068\u3044\u3046\u306e\u306f\uff0c\u81ea\u7136\u306a\u632f\u308b\u821e\u3044\u304c\u3067\u304d\u305f\u3068\u3044\u3046\u306e\u3068\u540c\u7fa9\u306a\u306e\u304b\uff1f\u540c\u7fa9\u3060\u3068\u3057\u3066\u3082\uff0c\u305d\u308c\u306f\u3069\u3046\u3084\u3063\u3066\u8a55\u4fa1\u3057\u305f\u306e\u304b\uff1f\u3053\u306e\u6df7\u4e71\u3092\u89e3\u6d88\u3059\u308b\u305f\u3081\u306b\u306f\uff0c\u3084\u306f\u308a\u672c\u6587\u3092\u8aad\u3093\u3067\u3044\u304b\u306a\u3044\u3068\u3060\u3081\u3060\u308d\u3046\uff0e\u30bb\u30f3\u30b5\u3068\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u304c\uff13\u8981\u7d20\u306e\u76f8\u4e92\u4f5c\u7528\u306e\u4e2d\u3067\u3069\u306e\u3088\u3046\u306a\u5f79\u5272\u3092\u679c\u305f\u3059\u306e\u304b\u3092\u8981\u78ba\u8a8d\u4e8b\u9805\u2462\u3068\u3059\u308b\uff0e\u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3057\u305fenvironment\u306e\u8a73\u7d30\u3092\u8981\u78ba\u8a8d\u4e8b\u9805\u2463\u3068\u3059\u308b\uff0e\u305d\u3057\u3066\uff0c\u81ea\u7136\u306a\u632f\u308b\u821e\u3044or\u30b3\u30df\u30e5\u30cb\u30b1\u30fc\u30b7\u30e7\u30f3\u306e\u5b9f\u73fe\uff0c\u3092\u3069\u306e\u3088\u3046\u306b\u8a55\u4fa1\u3057\u305f\u306e\u304b\u3092\u8981\u78ba\u8a8d\u4e8b\u9805\u2784\u3068\u3059\u308b\uff0e<\/p>\n

\u307e\u3068\u3081<\/h4>\n

\u4ee5\u4e0a\u3067\u30a2\u30d6\u30b9\u30c8\u30e9\u30af\u30c8\u306e\u7cbe\u8aad\u306f\u7d42\u308f\u308a\uff0e\u8981\u78ba\u8a8d\u4e8b\u9805\u306f\u4ee5\u4e0b\u306e\uff15\u3064\u3068\u306a\u3063\u305f\uff0e<\/p>\n

    \n
  1. “behavior-based emotional control architecture”<\/span>\u306e\uff13\u8981\u7d20\u306e\u5f79\u5272\u5206\u62c5\u3068\u76f8\u4e92\u4f5c\u7528\u306e\u8a73\u7d30<\/li>\n
  2. ROMAN\u306e\u4ed5\u69d8\u3068Control architecture\u306e\u6a5f\u80fd\u7684\u95a2\u9023<\/li>\n
  3. \u30bb\u30f3\u30b5\u3068\u30a2\u30af\u30c1\u30e5\u30a8\u30fc\u30bf\u304cControl architecture\u306e\u52d5\u4f5c\u306b\u4e0e\u3048\u308b\u5f71\u97ff<\/li>\n
  4. \u30ed\u30dc\u30c3\u30c8\u3092\u52d5\u304b\u3057\u305fEnvironment\u306e\u8a73\u7d30<\/li>\n
  5. \u30ed\u30dc\u30c3\u30c8\u306e\u632f\u821e\u306e\u8a55\u4fa1\u65b9\u6cd5<\/li>\n<\/ol>\n

    \u3053\u306e\u4e8b\u9805\u3092\u78ba\u8a8d\u3059\u308b\u305f\u3081\u306e\u672c\u6587\u8aad\u89e3\u306f\u5225\u8a18\u4e8b\u3067\u884c\u3046\uff0e<\/p>\n","protected":false},"excerpt":{"rendered":"\u30a2\u30d6\u30b9\u30c8\u30e9\u30af\u30c8\u306e\u7cbe\u8aad\u306b\u3088\u3063\u3066\uff0c\u672c\u6587\u3092\u3067\u304d\u308b\u3060\u3051\u697d\u306b\u8aad\u3081\u308b\u3088\u3046\u306b\u6e96\u5099\u3092\u3059\u308b\uff0e\u4eca\u56de\u8aad\u3080\u6587\u732e\u306f\u3053\u308c\uff0e \u6587\u732e\u60c5\u5831 Jochen Hirth, Norbert ...","protected":false},"author":1,"featured_media":2332,"comment_status":"closed","ping_status":"open","sticky":false,"template":"","format":"standard","meta":[],"categories":[63],"tags":[],"_links":{"self":[{"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=\/wp\/v2\/posts\/2328"}],"collection":[{"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=\/wp\/v2\/posts"}],"about":[{"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=\/wp\/v2\/types\/post"}],"author":[{"embeddable":true,"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=\/wp\/v2\/users\/1"}],"replies":[{"embeddable":true,"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=%2Fwp%2Fv2%2Fcomments&post=2328"}],"version-history":[{"count":4,"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=\/wp\/v2\/posts\/2328\/revisions"}],"predecessor-version":[{"id":2361,"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=\/wp\/v2\/posts\/2328\/revisions\/2361"}],"wp:featuredmedia":[{"embeddable":true,"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=\/wp\/v2\/media\/2332"}],"wp:attachment":[{"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=%2Fwp%2Fv2%2Fmedia&parent=2328"}],"wp:term":[{"taxonomy":"category","embeddable":true,"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=%2Fwp%2Fv2%2Fcategories&post=2328"},{"taxonomy":"post_tag","embeddable":true,"href":"http:\/\/www.ams.eng.osaka-u.ac.jp\/user\/ishihara\/index.php?rest_route=%2Fwp%2Fv2%2Ftags&post=2328"}],"curies":[{"name":"wp","href":"https:\/\/api.w.org\/{rel}","templated":true}]}}