A general behavior generation module for emotional robots using unit behavior combination method

This paper proposes an emotional behavior generator for emotional robots. The traditional methods for generating emotional behavior are not capable of expressing complex emotions, and lack the diversity of emotional expression and generality of system. To solve these problems, we propose a general emotional behavior generation module. It generates behavior combination expressing complex and phased emotions, using the concept of unit behavior and emotional marks. With behavior training sets of the module user, it generates the emotional matrix which represents expression abilities of unit behaviors. And with the emotional matrix, unit behaviors are combined into emotional expression behaviors using simulated annealing. To evaluate the results, we apply it to a robot simulator.