A design model of emotional body expressions in non-humanoid robots

Jekaterina Novikova, L A Watts

Research output: Chapter or section in a book/report/conference proceedingChapter in a published conference proceeding

25 Citations (SciVal)
356 Downloads (Pure)


Robotic emotional expressions could benefit social communication between humans and robots, if the cues such expressions contain were to be intelligible to human observers. In this paper, we present a design framework for modelling emotionally expressive robotic movements. The framework combines approach-avoidance with Shape and Effort dimensions, derived from Laban, and makes use of anatomical body planes that are general to both humanoid and non-humanoid body forms. An experimental validation study is reported with 34 participants rating an implementation of five expressive behaviours on a non-humanoid robotic platform. The results demonstrate that such expressions can encode basic emotional information, in that the parameters of the proposed design model can convey the meaning of emotional dimensions of valence, arousal and dominance. The framework thus creates a basis for implementing a set of emotional expressions that are appropriately adapted to contexts of humanrobot
joint activity.
Original languageEnglish
Title of host publicationHAI 2014 - Proceedings of the 2nd International Conference on Human-Agent Interaction
PublisherAssociation for Computing Machinery
Number of pages8
ISBN (Print)9781450330350
Publication statusPublished - 2014
EventThe Second International Conference on Human-Agent Interaction (HAI 2014) - Tsukuba, Japan
Duration: 28 Oct 201431 Oct 2014


ConferenceThe Second International Conference on Human-Agent Interaction (HAI 2014)


  • Emotional body language
  • Human-robot interaction
  • On-humanoid robots
  • Robot emotions


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