PhD Document - Universidad de Las Palmas de Gran Canaria

5.33 a) Spectrogram of the audio signal, b) evolution of the first-level (l2) norm of
the variance vector, c) evolution of the second-level (l2) norm of the variance
vector, d) first-level auxiliary signal, obtained using a threshold of 600, e)
second-level auxiliary signal, obtained using a threshold of 1000, f) habituation
level, using τ = 1, α = 0.002. . . . . . . . . . . . . . . . . . . . . . . 106
6.1 Transitions between expressions in motor space. . . . . . . . . . . . . . . . 110
6.2 Main window of the pose editor. . . . . . . . . . . . . . . . . . . . . . . . 111
6.3 Facial expressions modelled in CASIMIRO. From top to bottom, left to right:
Neutral, Surprise, Anger, Happiness, Sadness, Sleep. . . . . . . . . . . . . 113
6.4 Position of the camera and the pan axis of the neck. . . . . . . . . . . . . . 114
7.1 Main windows of the ZagaZ application. (Courtesy of D. Hernández) . . . 125
7.2 Arousal and valence emotional space. . . . . . . . . . . . . . . . . . . . . 132
7.3 Assignment of facial expression according to the emotional state. . . . . . . 133
7.4 Effect of an increase in arousal and decrease in valence. . . . . . . . . . . . 134
7.5 Effect of the correction in emotional space when three (arousal-increase,valencedecrease)
displacements are submitted to the system. Note that the position
in the emotional space tends to the desired expression. When the current position
is at the angle of the desired expression only the distance to the centre
increases, which in turn increases the degree of the expression. . . . . . . . 134
8.1 Person moving around and getting closer to CASIMIRO. . . . . . . . . . . 142
8.2 Valence values in the first (left) and second (right) example interactions. . . 142
8.3 Example interaction that shows how the robot recognizes people. The figure
shows on a time scale the valence values of the robot emotional state and the
executed actions. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 145
8.4 Maximum difference of means of n individuals with respect to the means of
n-1 individuals. That is, if the mean score of n individuals for question j is
represented as mn,j, then ∆n = maxj |mn,j − mn−1,j|, for 1 ≤ j ≤ 14. . . . 149
8.5 Mean score and 95% confidence interval obtained for each question in section
1 of the questionnaire. . . . . . . . . . . . . . . . . . . . . . . . . . . 150
8.6 Mean score and 95% confidence interval obtained in each section (only the
first two questions were included in the calculation of section 3). . . . . . . 151
8.7 Mean score and 95% confidence interval obtained for each question in section
2 of the questionnaire. . . . . . . . . . . . . . . . . . . . . . . . . . . 152
8.8 Mean score and 95% confidence interval obtained for each question in section
3 of the questionnaire. . . . . . . . . . . . . . . . . . . . . . . . . . . 153