Celluar-Accessible, Expressive, Semi-Autonomous Robot (CAESAR), a social mobile humanoid robot that interacts with users through non-verbal, emotional expressions, and has 30-DOFs which include it's mobile base.
CAESAR is a full-body humanoid robot designed using with cost-effective CAD and 3D printing technology, and commercially available components. We present the structural, electrical, and expressive components of CAESAR. Next, we introduce emotions as the robot's affective states and adopt a heuristics-based approach with the introduction of emotional intensities, using which CAESAR generates a diverse variety of distinct and unique emotional expressions using its facial and gestural expressive components.
We define the low-level control mechanism of CAESAR that allows the robot to move it's servos/motors to goal positions in order to generate emotional expressions with different emotional intensity levels. To validate the robustness of the proposed approach, experiments are performed as emulation tests using real data of the motors, and visual inspection is performed by applying the generated expressions physically on the robot. A study evaluates the perceived expressiveness of CAESAR by users for different emotions and intensities.
Celluar-Accessible, Expressive, Semi-Autonomous Robot (CAESAR), a social mobile humanoid robot that interacts with users through non-verbal, emotional expressions, and has 30-DOFs which include it's mobile base.
CAESAR is a full-body humanoid robot designed using with cost-effective CAD and 3D printing technology, and commercially available components. We present the structural, electrical, and expressive components of CAESAR. Next, we introduce emotions as the robot's affective states and adopt a heuristics-based approach with the introduction of emotional intensities, using which CAESAR generates a diverse variety of distinct and unique emotional expressions using its facial and gestural expressive components.
We define the low-level control mechanism of CAESAR that allows the robot to move it's servos/motors to goal positions in order to generate emotional expressions with different emotional intensity levels. To validate the robustness of the proposed approach, experiments are performed as emulation tests using real data of the motors, and visual inspection is performed by applying the generated expressions physically on the robot. A study evaluates the perceived expressiveness of CAESAR by users for different emotions and intensities.