An Analysis of the Bunraku Puppet’s Motions based on the Phase Factors of the Puppet’s Motion Axes (For the Generation of Humanoid Robots’ Motions with Fertile Emotions)

In order to establish method to design humanoid robots’ motions with fertile emotions, the authors are analysing the Bunraku puppet’s motions which are generated by the experts of puppet’s manipulation. The many puppet’s motions with some functions and with some emotions are observed. To simplify the observed puppet’s motions, each puppet’s motions are divided into the motion of the puppet’s axes (the main part of the motion) and the relative motion (accompaniment). In this paper, the motions of the puppet’s axes are analysed. The graphs of the motions of the puppet’s axes consist of same factors if the motions have the same functions even though they have the different emotions. The graphs of the same factors have similar forms, but their time length and amplitudes differ, if they have the different emotions. The above factors are computed from the data of the motions of the axes based on the wavelet coefficients of the data which express the local forms of the graphs. The authors analyse how the time length and the amplitude of the factor changes as its emotion changes. This knowledge is applied to generate humanoid robots’ motions with fertile emotions from their motions with no emotion.