A behavior combination generating method for reflecting emotional probabilities using simulated annealing algorithm

This paper presents a behavior generating method for reflecting emotional probabilities. The proposed method consists of two processes: an emotion-behavior probability generating process and a unit behavior combination generating process. 1) In the emotion-behavior probability generating process, the emotional probabilities of behaviors are determined on the basis of user preferences in terms of the priorities of emotions. 2) In the unit behavior combination generating process, optimal behaviors are found by the simulated annealing algorithm. A final behavior is a set of selected parts of expressions. It is possible to not only reveal an abundance of expressions without one-to-one mapping relations between emotions and behaviors but also apply these expressions in the case of various robots. We have verified the diversity of emotional expression by applying the proposed method to two different robot systems, which are a cyber robot simulator and a real robot system.