Simultaneous design of robot motion and utterance timing by using Self-Organizing Maps

This paper proposed the robot motion planning which considers an utterance timing. Motion and utterance timing of autonomous robot is generated by using the SOM which was trained by human normative data in practical communication. Effective and ineffective behavior of the robot is generated, and an availability of behavior of the robot is evaluated by experiment. As a result, although effective and ineffective behavior of automatically robot are realized, that is, the influence of individual differences is appeared in human-robot communication.