Tham khảo tài liệu 'humanoid robots - new developments part 14', kỹ thuật - công nghệ, cơ khí - chế tạo máy phục vụ nhu cầu học tập, nghiên cứu và làm việc hiệu quả | 447 Assessment of the Impressions of Robot Bodily Expressions using Electroencephalogram Measurement of Brain Activity Appendix Mathematical expression of Laban features of the robot ASKA Fig. 11. Diagram of table plane superposed on a top view of the robot ASKA. The mathematical definition of Laban features Shape and Effort using the robot s kinematic and dynamic information is given such that larger values describe fighting movement forms and smaller values describe indulging ones Tanaka et al. 2001 . Bartenieff and Lewis stated in Bartenieff Lewis 1980 that the Shape feature describes the geometrical aspect of the movement using three parameters table plane door plane and wheel plane. They also reported that the Effort feature describes the dynamic aspect of the movement using three parameters weight space and time. The robot s link information which will be used in the features definitions is given in Fig. . In order to simplify the mathematical description a limited number of joint parameters were considered in this definition namely the left arm 6ịi the right arm 6ri the neck J the face d2 the left wheel ỜỊ and the right wheel ửr . The remaining parameters were fixed to default values during movement execution. Using the diagram shown in Fig. the table parameter of feature Shape represents the spread of silhouette as seen from above. It is defined as the scaled reciprocal of the summation of mutual distances between the tips of the left and the right hands along with a focus point as shown in 8 . Shapetabie S t T__ T _ 8 LF RF LR where Tlf Lf cos J1 cos J2 - LA cos 6A 2 xShi - LF cos J1 sin J2 Tm L cos J cos J - L. cos 6 2 ShẢ - L cos J sin J RF F 12 A r1 F 12 Tlr Sh2 La cos 6l1 - La cos 6r1 2 448 Humanoid Robots New Developments The point of focus is set at the fixed distance LF 44 cm in the gaze line of the robot s head. Sh 33 cm is the distance between the shoulders L 44 cm is the arm s length during movement execution and s is a scaling factor. The door .
