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Introduction
The emotion_expression service can be used to manipulate common neutral gestures into more affective gestures for the Nao. It will take the neutral gesture in .json format and wanted affect as input and gives the affective gesture as an output.
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Known Issues
The main issue with emotion_expression is that not every movement is stable enough to execute on the Nao.
For the manipulation of neutral gestures into emotion-based gestures, this page will provide an overview of the gestures with the evaluation (e.g. of stability). Please note that if a gesture is not tested yet, the stability of that gesture is not ensured and therefore do NOT use it for NAO’s safety.
The overview is provided with all gestures out of Choregraph tested on several affects (0 = instable, 1 = stable). The affects are determined by the use of the Circumplex Model of Affect: nine intersection points are selected to cover a variation of affects. The Circumplex Model of Affect and the selected points are shown in Figure 1 below.
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Category | Neutral | Angry | Happy | |
|---|---|---|---|---|
FastGatherBothHandsOnChest_LeanRight | Affirmation | 1 | ||
GatherBothHandsInFront | Affirmation | 1 | ||
GoToStance_Affirmation_Center | Affirmation | 1 | ||
GoToStance_Affirmation_LeanLeft | Affirmation | 1 | ||
GoToStance_Affirmation_LeanRight | Affirmation | 1 | ||
LittleBothArmsUp_DuckEnd | Affirmation | 1 | ||
OfferBothHands_HeadNod_LeanLeft | Affirmation | 1 | ||
SlowBowWithArms | Affirmation | 1 | ||
StrongLeftArmsInFront_LeanLeft | Affirmation | 1 | ||
WideOpenBothHands | Affirmation | 1 | ||
GoToStance_Affirmation_Flex | Affirmation | 0 | ||
StrongArmsAndLegsBump_LeanRight | Affirmation | 0 | ||
WideGatherBothHandsOnChest_LeanRight | Affirmation | 0 | ||
DoubleLeftHandBump_LeanRight | Enumeration | 1 | ||
DoubleRightHandBump_LeanRight | Enumeration | 1 | ||
GoToStance_Enumeration_Center | Enumeration | 1 | ||
GoToStance_Enumeration_LeanRight | Enumeration | 1 | ||
LeftArmBump_LeanRight | Enumeration | 1 | ||
LeftArmSpreadAndBack | Enumeration | 1 | ||
LittleFancyBothArmsInFront | Enumeration | 1 | ||
OfferLeftHandThenRightHand | Enumeration | 1 | ||
OpenBothHandsInFrontWithBump | Enumeration | 1 | ||
CircleBothArmsLeaningFront | Exclamation | 1 | ||
FastBothArmsInFront | Exclamation | 1 | ||
GoToStance_Exclamation_Center | Exclamation | 1 | ||
GoToStance_Exclamation_LeanBack | Exclamation | 1 | ||
GoToStance_Exclamation_LeanLeft | Exclamation | 1 | ||
GoToStance_Exclamation_LeanRight | Exclamation | 1 | ||
LeftArmOnChest_LeanRight | Exclamation | 1 | ||
SpreadArms_FlexEnd | Exclamation | 1 | ||
StrongNodArmsUpAndDownLeaningBack | Exclamation | 1 | ||
WideBothArmsCircle_LeanLeft | Exclamation | 1 | ||
BothArmsShowGround_LeanBack | Exclamation | 0 | ||
GoToStance_Exclamation_Flex | Exclamation | 0 | ||
LittleArmsUpAndDownWithBump | Exclamation | 0 | ||
BothArmsUpAndDown_HeadShake | Negation | 1 | ||
DoubleHorizontalBumpRightArm | Negation | 1 | ||
GoToStance_Negation_Center | Negation | 1 | ||
GoToStance_Negation_LeanLeft | Negation | 1 | ||
LittleSpreadRightArm_HeadShake | Negation | 1 | ||
StrongBothArmsUpAndDown_LeanLeft | Negation | 1 | ||
WideHorizontalRightArm_LeanLeft_HeadShake | Negation | 1 | ||
RightArmUpAndDownWithBump_HeadShake | Negation | 0 | ||
FancyRightArmCircle_LeanRight | Question | 1 | ||
GoToStance_Question_Center | Question | 1 | ||
GoToStance_Question_Flex | Question | 1 | ||
GoToStance_Question_LeanFront | Question | 1 | ||
GoToStance_Question_LeanRight | Question | 1 | ||
LittleArmsBump | Question | 1 | ||
LittleArmsBumpInFront_LeanRight | Question | 1 | ||
LittleBowAndSpreadArms | Question | 1 | ||
SlowlyOfferBothHands | Question | 1 | ||
StrongHeadShakeSpreadArms_FlexEnd | Question | 1 | ||
WideSpreakArms_FlexEnd | Question | 1 | ||
BothHandsBumpWithBump | Self&Others | 1 | ||
FastPointAtUserLeftARm | Self&Others | 1 | ||
GoToStance_Self&Others_Center | Self&Others | 1 | ||
GoToStance_Self&Others_Flex | Self&Others | 1 | ||
GoToStance_Self&Others_LeanBack | Self&Others | 1 | ||
GoToStance_Self&Others_LeanFront | Self&Others | 1 | ||
GoToStance_Self&Others_LeanRight | Self&Others | 1 | ||
OpenArmInFrontWithBump | Self&Others | 1 | ||
PointAtSelfRightArm | Self&Others | 1 | ||
PointAtUserBothHands | Self&Others | 1 | ||
StrictPointAtUserRightArm | Self&Others | 1 | ||
WidePointAtUserRIghtArm_LeanRight | Self&Others | 1 | ||
BothArmsBump_LeanRight | Spacetime | -0 | ||
StrongrmsOpen_FlexEnd | Spacetime | -0 | ||
BothArmsBumpInFront | Spacetime | 1 | ||
GoToStance_Space&Time_Center | Spacetime | 1 | ||
GoToStance_Space&Time_LeanLeft | Spacetime | 1 | ||
GoToStance_Space&Time_LeanRight | Spacetime | 1 | ||
PointFromLeftArm_LeanLeft | Spacetime | 1 | ||
ShowFarDistanceLeft | Spacetime | 1 | ||
ShowNearDistanceLeft | Spacetime | 1 | ||
ShowNearDistanceRight | Spacetime | 1 |
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