Neurocognitive Affective System for an Emotive Robot

Gunn-Yong Park***, Seung-Ik Lee*** , Woo-Young Kwon*, and Joong-Bae Kim*

Proceedings of the 2006 IEEE/RSJ

International Conference on Intelligent Robots and Systems

Introduction

For a service robot to be more friendly 採用類似人腦的神經科學設計 著重刺激因子的效果 : rewarding & punishing 導入了經驗法則的想法 Robot 可以連續性的展現多種 emotions ，甚

至可以擁有 various emotions at the same time

Primary Reinforcers(ex. The taste of food or pain) is unlearned and has innate 。

Secondary Reinforicers(ex. The auditory and visual stimulus) develops its properties through learning its association with primary reinforcement

(1) consequences of events: 在 occ mode 下可以預測event 是不是預期的 ? 自發性 ? 偶發性 ?

(2) aspects of objects:emotions depend on if the objects are appealing.

(3) actions of agents:The emotion related to the actions of agents depends on the praiseworthiness or blameworthiness of its action. For example, when responsibility for an action is attributed to itself, pride or shame will be produced. Otherwise, when the responsibility is attributed to an external agent, it becomes admiration or reproach.

The robot affective system The robot affective system comprises four mo

dules:

an appraisal module for external stimuli

an emotion generation module

an emotional expression module

a long-term memory.

Appraisal module function

result An(t) depends on time and mood.

正面情緒 an(t) 呈正成長

Ek(t) k(th) emotion 的值 ( 正 or 負 越大代表這情緒佔系統比例大 )

Ek 成長參數 if Ek(t) is positive emotion,then eK 就會是正值

A 是 emotions 的所有數量

The emotion-generation module the secondary emotion unit:depend on the results from t

he appraisal module the motivation unit(ex.tired or social interaction) the primary emotion unit

The activation level of the ith primary emotion Ei(t) at

time t depends on the level of logical sensor data, and defined as follows:

Sm: the level of the m(th) logical sensor dataWm: the weight of the m(th) sensor dataδ(t): the decay factor of the emotionM: the number of logical sensors related to the emotion.

Motivation function

An: is the weight of the n(th) appraisal result cl : the weight of the L(th) motivationN : the number of related appraisal resultsL : is the number of related motivations.