Parameterization of Emotion Expression through Robot's Body Language

To enhance the human-robot interaction social robots have been developed with focuses on facial expression and verbal language. However, little to none has been done on emotional expression through robot's body language. This work uses a parameterization method with human's emotion theory and experiments to find robot parameters for expressing emotions through body language. Mapping is done on 2- and 3-dimensional emotion space, and obtained coefficients can be used to determine the influence level of motion parameters to emotion domains.