Humans have various emotion types which affect speculation, making decisions, behavior, and the like. In particular, walking is also affected by temporal emotion status, which can be easily inferred by his or her walking style and pattern. So far, researches on biped walking with humanoid robots have been mainly focused on stable walking irrespective of ground condition. For effective human-robot interaction, however, gait patterns need to be appropriately changed depending on the current emotion status of the robot. This paper provides an analysis result of gait experiment data for the men and women subjects in four representative affective walking, i.e., easy, joyful, angry, and sorrow walking. In addition, the way how humanoid robot can express the emotion status during walking is proposed with Matlab simulation in terms of joint coordinate space.

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This paper deals with humanoid robot's standing on the inclined floor with a walk-ready posture, which is usual in human's living environment. To this end, inverse kinematic method is newly proposed using the projection method and Taylor polynomial expansion. In addition, each joint angle in the legs is adjusted according to the scheme with which the robot is aligned with the modified gravity force and the feet are still attached on the inclined floor. The proposed approach is validated through simulation result.

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