Bodily mood expression: Recognize moods from functional behaviors of humanoid robots

Junchao Xu, Joost Broekens, Koen Hindriks, Mark A. Neerincx

Research output: Chapter in Book / Report / Conference proceedingConference contributionAcademicpeer-review


Our goal is to develop bodily mood expression that can be used during the execution of functional behaviors for humanoid social robots. Our model generates such expression by stylizing behaviors through modulating behavior parameters within functional bounds. We have applied this approach to two behaviors, waving and pointing, and obtained parameter settings corresponding to different moods and interrelations between parameters from a design experiment. This paper reports an evaluation of the parameter settings in a recognition experiment under three conditions: modulating all parameters, only important parameters, and only unimportant parameters. The results show that valence and arousal can be well recognized when the important parameters were modulated. Modulating only the unimportant parameters is promising to express weak moods. Speed parameters, repetition, and head-up-down were found to correlate with arousal, while speed parameters may correlate more with valence than arousal when they are slow.

Original languageEnglish
Title of host publicationSocial Robotics - 5th International Conference, ICSR 2013, Proceedings
Number of pages10
Publication statusPublished - 1 Dec 2013
Externally publishedYes
Event5th International Conference on Social Robotics, ICSR 2013 - Bristol, United Kingdom
Duration: 27 Oct 201329 Oct 2013

Publication series

NameLecture Notes in Computer Science (including subseries Lecture Notes in Artificial Intelligence and Lecture Notes in Bioinformatics)
Volume8239 LNAI
ISSN (Print)0302-9743
ISSN (Electronic)1611-3349


Conference5th International Conference on Social Robotics, ICSR 2013
Country/TerritoryUnited Kingdom


  • Body language
  • Human robot interaction (HRI)
  • Mood expression
  • Nonverbal behavioral cues
  • Social robots


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