基于个性的机器人情感生成和决策模型构建

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牛国臣, 胡丹丹, 高庆吉. 基于个性的机器人情感生成和决策模型构建[J]. 机器人, 2011, 33(6): 706-711,718.. NIU Guochen, HU Dandan, GAO Qingji. Robot Emotion Generation and Decision-making Model Construction Based on Personality. ROBOT, 2011, 33(6): 706-711,718..

摘要为了使人机交流更加自然，提出一种基于个性的机器人情感生成机制和情感决策模型，建立了从个性到情感空间、从情感空间到多种行为输出的映射．对个性空间和情感空间进行描述，通过PAD（pleasure-arousaldominance）空间建立二者之间的映射关系，给出了基于融入个性精神集注模型的情感更新方程，得到机器人实时情感状态．设计了基于个性的机器人情感决策模型，实现从基本情感到基本动作的映射，得到任意复合情感状态下的行为输出，并采用格贴近度法确定行为是否执行．以“福牛”机器人为实验平台，结果验证了该方法的有效性和实用性．

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	牛国臣
	胡丹丹
	高庆吉

关键词 ：个性, 情感生成, 情感决策模型, 福牛机器人

Abstract：To make the communication between robot and human more natural,a robot emotion generation and decision-making model based on personality is proposed.The mappings from personality space to emotion space and from emotion space to multiple behavior outputs are established.Personality space and emotion space are described.The mapping relationship between them is established via the PAD(pleasure-arousal-dominance) space,and an equation based on Cathexis model based on personality for updating the emotion is induced,so that the real-time emotion state can be obtained.The robot emotion decision-making model based on personality is designed,and with that model,any composite emotion's corre-sponding behavior output can be calculated after the mappings from basic emotions to basic actions are established,then the lattice degree of approaching method is used to decide whether or not to execute the actions.Experiments are carried out on platform "Funiu" robot,and results verify the validity and practicality of the method.

Key words： personality emotion generation emotion decision-making model "Funiu" robot

收稿日期: 2011-04-08 录用日期: 2011-09-06

TP391

基金资助:中国民用航空局科技类开发项目（MHRD0702）；中央高校基本科研业务费中国民航大学专项（ZXH 2009B002）；中国民航大学科研基金（07KYM03）

通讯作者: 胡丹丹 E-mail: ddhu@cauc.edu.cn

作者简介: 牛国臣（1981- ），男，博士生，讲师．研究领域：机器人导航控制．
胡丹丹（1979- ），女，硕士，讲师．研究领域：机器人环境感知．
高庆吉（1966- ），男，博士，教授．研究领域：机器人智能与系统．

链接本文:

https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2011/V33/I6/706

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