Modeling of handling motion reflecting emotional state and its application to robots

Robots that support humans cooperatively should move as being accepted emotionally. To form such a movement, it is one of the effective methods for the robots to make the gentle movement to take care of the humans. The humanpsilas cooperative movement and support movement have changes in the generated trajectory with cherishing a desire. In this research, we propose an algorithm to generate the handing motion of the hander with psychological intention. The utility of the proposed algorithm is examined by adapting to the actual arm robot and by evaluating the generated motion psychologically.