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Emotional gait: effects on humans’ perception of humanoid robots

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conference contribution
posted on 22.05.2015 by Matthieu Destephe, Martim Brandao, Tatsuhiro Kishi, Massimiliano Zecca, Kenji Hashimoto, Atsuo Takanishi
Humanoid robots have this formidable advantage to possess a body quite similar in shape to humans. This body grants them, obviously, locomotion but also a medium to express emotions without even needing a face. In this paper we propose to study the effects of emotional gaits from our biped humanoid robot on the subjects’ perception of the robot (recognition rate of the emotions, reaction time, anthropomorphism, safety, likeness, etc.). We made the robot walk towards the subjects with different emotional gait patterns. We assessed positive (Happy) and negative (Sad) emotional gait patterns on 26 subjects divided in two groups (whether they were familiar with robots or not). We found that even though the recognition of the different types of patterns does not differ between groups, the reaction time does. We found that emotional gait patterns affect the perception of the robot. The implications of the current results for Human Robot Interaction (HRI) are discussed.


This work was supported in part by Global COE Program "Global Robot Academia", MEXT, Japan and the Waseda special research fund 2013A-888. It is also partially supported by SolidWorks Japan K.K. and DYDEN Corporation The High-Performance Physical Modeling and Simulation software MapleSim used in our research was provided by Cybernet Systems Co.,Ltd. (Vendor: Waterloo Maple Inc.).



  • Mechanical, Electrical and Manufacturing Engineering

Published in

Robot and Human Interactive Communication, 2014 RO-MAN: The 23rd IEEE International Symposium on


261 - 266


DESTEPHE, M. ... et al, 2014. Emotional gait: effects on humans’ perception of humanoid robots. IN: Proceedings of the 23rd International IEEE Symposium on Robot and Human Interactive Communication, 25th-29th August 2014, Edinburgh, pp. 261 - 266.




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