[7] 2 [7] 2.1 Rudlf von Laban Weight Effort Space Effort Time Effort 3 1 Door Plane Shape Wheel Plane Shape Table Plane Shape
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1 HAI シンポジウム 2014 Human-Agent Interaction Symposium 2014 P-12 Body motion expressions considering the Laban theory in flight robots Chie Hieida 1 Shunsuke Kudoh 1 Takashi Suehiro The University of Electro-Communications Abstract: This paper describes body motion expressions for flight communication robots. Five body motion expressions are designed based on the Laban theory. We carried out some subjective evaluation experiments that clarified the relationship between the parameters and subjective feeling of the expressions. In future, drones will be able to express their emotional states to human users. Such expressions are expected to enrich the communication between the flight robots and human users. 1 [1][2] 1 [3] [4][5] [6] hieida@taka.is.uec.ac.jp 1: 92
2 [7] 2 [7] 2.1 Rudlf von Laban Weight Effort Space Effort Time Effort 3 1 Door Plane Shape Wheel Plane Shape Table Plane Shape : 2: eyawshake 4 [7] 4 93
3 表 4: エフォートとシェイプへの割り当て エフォート 戦闘形態 陶酔形態 力加減 eyawshake 喜び 驚き 悲しみ 空間 eyawshake eyawshake テーブル面 ドア面 驚き 驚き 車輪面 シェイプ 戦闘形態 陶酔形態 時間 怒り 表 3: ドローンの作成動作 名称 動き 名称 動き eyaw SHAKE 図 2: ドローンの仕様 epitch SHAKE eroll SHAKE efowleftbackright 実験 システム 飛行型ロボットとして Parrot 社の AR.Drone2.0 を 用いた 図 2 この AR.Drone2.0 以下ドローン は 下方と前方に各一つカメラを有し 下方には地面との 距離を測るための超音波センサが取り付けられている 内部には 3 軸の加速度センサとジャイロセンサを有し ドローンの速度と傾きを計測することができる Wi-Fi と LinuxOS を搭載しており 制御は無線通信を用いて PC からコマンドを送ることによって行う 3.2 実験プロトコル 今回作成した身体動作表現が 人にどのような印象 を与えるかを実験によって検証した 図 3 実験は 94 被験者に対しドローンが動作表現を行い ひとつひと つの動作に対して被験者がアンケートに回答した ド ローンの身体動作表現は 10 動作をランダムに行った この内 5 動作は異なる動作で 残りの 5 動作は相対的 位置関係 (高さ) が異なるものである これは 相対的 位置関係によって同じ動作であっても 異なる印象を 感じるかどうかを検証するためである 今回高さは低 い位置 Low と高い位置 High を設定し それぞ れ約 0.65m 1.65m とした 実験中はカメラによる記 録と心拍センサの記録を行った 被験者には雑音の影 響を最小限にするためにイヤフォンを着用してもらっ た また ドローンと被験者の距離は平均 1.2 ｍ程度 と設定した これは一般の大人のパーソナルスペース の距離が 1.2 ｍといわれているため インタラクショ ンを行う上での目安となるからである アンケートの内容は以下のように設定した 動作評価アンケート Q 印象をもちますか 複数回答可 喜び 驚き 怒り 悲しみ 退屈 くつろぎ 心配 気楽 肯定 否定 快 不快
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5 5: (a) (b)eyawshake (c) (d) (e)fow-left-back-right 6: XZ RollPitchYaw 7 [9] (b) (c) 5 (b) 5 (c) XZ RollPitchYaw 96
![7: 5 5 XZ RollPitch Yaw 8: [1] Valiallah MonajjemiJens WawerlaRichard Vaughan and Greg Mori HRI in the Sky: Creating and Commanding Teams of UAVs with a Vision-mediated Gestural Interface](/docs-images/52/30746334/images/6-0.png "International Conference on Intelligent Robots and Systemspp.617-6232013 [2] UAV 2L3-12014 [3], Vol.24 pp.319-3222006 [4] HAI 2D-4 2008 [5] Vol.16(3)pp.")
6 7: 5 5 XZ RollPitch Yaw 8: [1] Valiallah MonajjemiJens WawerlaRichard Vaughan and Greg Mori HRI in the Sky: Creating and Commanding Teams of UAVs with a Vision-mediated Gestural Interface International Conference on Intelligent Robots and Systemspp [2] UAV 2L [3], Vol.24 pp [4] HAI 2D [5] Vol.16(3)pp [6] Jekaterina NovikovaLeon Watts A Design Model of Emotional Body Expressions in Non-humanoid Robots International Conference on Human-Agent Interaction pp [7] Vol.19pp [8] - - HAI I-1A [9] J.A.Russell A circumplex model of affect Journal of Personality and Society Psychology Vol. 39 pp
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