This paper describes gaze guidance with emotional motion of a head robot, called Kamin-FA1. We propose to use not only the gaze control of the robot but also the facial expression combining with the head motion to guide a human beingpsilas gaze to the target. We provide the information of the gaze target intuitively to human based on the shared attention with the emotional communication robot Kamin-FA1. The robot has a facial expression function using a curved surface display. We examined the effect of emotional expression to the gaze guidance in terms of the reliability and the reaction speed. We conducted the experiments of gaze measurement during the gaze guidance with emotional expression to evaluate the role of emotional expression. The results of the gaze guidance experiments showed that the gaze guidance with emotional expression caused more reliable and quick eye movement than that without emotional expression. Specially, the expression of surprise has the best performance in the gaze guidance among the six basic emotions.
['M. Hashimoto', 'H. Kond', 'Y. Tamats']
Effect of emotional expression to gaze guidance using a face robot