Natural changing of emotional expression by considering correlation of behavior history

This paper presents a novel method for natural changing of emotional expression. Although formal behavior generation method using the simulated annealing algorithm selects various behaviors, there are weak correlations among behavior history. To make strong correlations, we restrict the randomness of the simulated annealing algorithm. This method sifts unapt candidate behavior combinations out by considering the previous behavior combinations and makes adequate range of candidate behavior combinations. We have verified the continuity of the proposed method using a cyber robot simulator.