Abstract
This paper mainly explores the computational model that connects a robot's emotional body movements with human emotion to propose an emotion recognition method for humanoid robot body movements. There is sparse research directly carried out from this perspective to recognize robot bodily expression. A robot's body movements are designed by imitating human emotional body movements. Subjective questionnaires and statistical methods are used to analyze the characteristics of a user's perceptions and select appropriate designs. An emotional body movement recognition model using a BP neural network (EBMR-BP model) is proposed, in which the selected robot's body movements and corresponding emotions are used as inputs and outputs. The corresponding topological architecture, encoding rules, and training process are illustrated in detail. Then, the PSO method and the RMSProp algorithm are introduced to optimize the EBMR-BP method, and the PSO-BP-RMSProp model is developed. Through experiments and comparisons for emotion recognition of a robot's body movements, the feasibility and effectiveness of the EBMR-BP model, with a recognition rate of 66.67%, and the PSO-BP-RMSProp model, with a recognition rate of 88.89%, are verified. This indicates that the proposed method can be used for emotion recognition of a robot's body movements, and optimization can improve emotion recognition. The contributions are beneficial for emotional interaction design in HRI.