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主管单位 中华人民共和国
工业和信息化部
主办单位 哈尔滨工业大学 主编 冷劲松 国际刊号ISSN 0367-6234 国内刊号CN 23-1235/T

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引用本文:吴伟国,李虹漫.PAD情感空间内人工情感建模及人机交互实验[J].哈尔滨工业大学学报,2019,51(1):29-37.DOI:10.11918/j.issn.0367-6234.201807138
WU Weiguo,LI Hongman.Artificial emotion modeling in PAD emotional space and human-robot interactive experiment[J].Journal of Harbin Institute of Technology,2019,51(1):29-37.DOI:10.11918/j.issn.0367-6234.201807138
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PAD情感空间内人工情感建模及人机交互实验
吴伟国,李虹漫
(哈尔滨工业大学 机电工程学院, 哈尔滨 150001)
摘要:
针对未来仿人机器人与人类长期共存将会带来的机器人对人的心理影响以及个性化匹配问题,在PAD(Pleasure、Arousal、Dominance)三维情感空间内,建立一种更具普遍性的人工情感计算模型. 人工情感模型总体框架分为外部事件检测及处理、情绪响应向量生成及修正和情绪离散化三部分. 提出一种有效的外界刺激三维标注方法;建立可对外界刺激进行自主情绪响应的情感计算模型,并将性格和心情模型引入其中,实现个性化的情绪响应;提出一种情绪响应向量离散化方法,并在具体情绪种类的基础上建立情绪强度计算式; 根据情感模型所产生的情绪种类及强度,建立机器人的表情合成及语音回答模型,在H&F robot-III型仿人头像机器人平台上进行人-机器人情感交互实验. 语音对话和表情状态迁移实验结果表明:所建立的人工情感模型可针对外界刺激自主地产生个性化情绪响应,有效模拟人类情绪的变化过程.
关键词:  PAD情感空间  人工情感模型  特征选择  随机森林算法  仿人头像机器人  人-机器人交互
DOI:10.11918/j.issn.0367-6234.201807138
分类号:TP242.6
文献标识码:A
基金项目:
Artificial emotion modeling in PAD emotional space and human-robot interactive experiment
WU Weiguo,LI Hongman
(School of Mechatronics Engineering, Harbin Institute of Technology, Harbin 150001, China)
Abstract:
Aiming at the psychological impact on human and personalized matching problem, which are caused by the long-term coexistence between human and humanoid robot in the future, a more universal artificial emotion calculation model in the PAD (Pleasure, Arousal, Dominance) emotional space is proposed. The overall framework of the artificial emotion model consists of 3 sections: external event detection and processing, generation and correction of emotional response vectors and emotional discretization. Firstly, an effective external stimulus 3D annotation method is put forward, after that, according to the external stimuli, a computational model of emotion which can generate emotional response is proposed, and the personality and mood model are introduced to realize the personalized emotional response. Then, an emotional response vector discretization method is carried out, and the emotional intensity computational formula is proposed on basis of specific emotion types. Finally, the expression synthesis and voice response model is proposed according to the emotion generated by the emotion model. The speech dialogue and expression state migration experiment on the H&F robot-III humanoid head robot platform is carried out, and the results show that the artificial emotion model can generate personalized emotional response to external stimuli and simulate the process of human emotion changes effectively.
Key words:  PAD emotional space  artificial emotion model  feature selection  random forest algorithm  humanoid head portrait robot  human-robot interaction

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