Emotion Expression of Humanoid Robot by Modification of Biped Walking Pattern

Humans have various emotion types which affect speculation, making decisions, behavior, and the like. In particular, walking is also affected by temporal emotion status, which can be easily inferred by his or her walking style and pattern. So far, researches on biped walking with humanoid robots have been mainly focused on stable walking irrespective of ground condition. For effective human-robot interaction, however, gait patterns need to be appropriately changed depending on the current emotion status of the robot. This paper provides an analysis result of gait experiment data for the men and women subjects in four representative affective walking, i.e., easy, joyful, angry, and sorrow walking. In addition, the way how humanoid robot can express the emotion status during walking is proposed with Matlab simulation in terms of joint coordinate space.