Impression Evaluation for Mixed Behavior of Animal Type Quadrupedal Robot

Abstract

In the field of robot-assisted therapy, the impression evaluation for robot behaviors are important for enhancing the effect of treatment.This paper presents the impression evaluation for mixed walking motion of animal type quadrupedal robot "AIBO" .We verified the effects of different behaviors on human sensibility evaluation by comparing between the normal pre-installed gait and the animal-like gait generated by imitating canine walking, optimizing a leg path using a genetic algorithm and applying a zoological basis.Moreover, we analyzed the relationship between behaviors and impressions by evaluating the three mixed walking motions.