Synthesis of robot-to-human expressive behavior for human-robot symbiosis

This paper proposes a robot behavior notation named ''Behavioral Score'' and a methodology of generating ''familiar'' robot behavior. Behavioral Score, designed with analogies to a musical score, is an effective method of describing and controlling the expressive behavior of a robot. The effectiveness of Behavioral Score is demonstrated by a choreographed robot dance. The methodology described is based upon the hypothesis that the passive reactions of a robot produce a familiar, comfortable, impression in human beings. Utilizing the robot behavior for generating familiarity will facilitate human-robot symbiosis. The results of psychological experiments verifies the validity of the methodology.