Today, a variety of social robots capable of interacting and communicating with humans has begun to emerge. Existing social robots mainly utilize a voice and/or a small screen for emotionally interacting with humans despite many possibilities of physically expressing emotional motion. Thus, this research aims to build methods for emotional motion prototyping and create a prototype of a social robot based on the kinematics of the Delta robot. For this research, literature related to emotional motions of social robots and humans is explored, and emotional motions of humans is categorized based on six basic human emotions in order to analyze existing social robots. Moreover, through analyzing the cases, we propose methods for emotional motion prototyping. Based on these, a prototype of a social robot is developed based on the kinematics of a Delta robot and is tested. In this paper, we present ways to create emotional motions of social robots and experimental experience of a prototype of a Delta-robot-based social robot. Further work in this research is to develop an actual social robot based on the prototype.
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