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<div class=""abs_img""> <img src=""[disp_template_path]/JRM/abst-image/00270005/02.jpg"" width=""300"" /> Prediction of future state and action</div> In order to work effectively, a robot should be able to adapt to different environments by deciding its correct course of action according to the situation, using determinants other than pre-registered commands. For this purpose, the ability to predict the future state of a robot would be effective. On the other hand, the future state of a robot varies infinitely if it depends on its current action. Therefore, it is difficult to predict only the future state. Thus, it is important to simultaneously predict the state and the action that the robot will adopt. The purpose of this study was to investigate the prediction of the advanced future state and action of a robot. In this paper, the results of the study are reported and methods that allow a robot to decide its appropriate behavior quickly, according to the predicted future state are discussed. As an application example for evaluating the proposed method, the inverted pendulum model is used and the prediction results are compared with the robot’s actual responses. Then, two methods will be discussed for predicting the robot’s state and action. To perform state and action prediction, two methods are used, firstly the Online SVR (Support Vector Regression) and secondly Online SVR and the LQR (Linear Quadratic Regulator). </span>

In this paper, we propose adding the traditional Japanese nodding behavior to the repertoire of social movements to be used in the context of humanrobot interaction. Our approach is motivated by the notion that in many cultures, trust-building can be boosted by small body gestures. We discuss the integration of a robot capable of such movements within CRECA, our context-respectful counseling agent. The frequent nodding called "unazuki" in Japan, often accompanying the "un-un" sound (meaning "I agree") of Japanese onomatopoeia, underlines empathy and embodies unconditioned approval. We argue that "unazuki" creates more empathy and promotes longer conversation between the robotic counsellor and people. We set up an experiment involving 10 subjects to verify these effects. Our quantitative evaluation is based on the classic metrics of utterance, adapted to support the Japanese language. Interactions featuring "unazuki" showed higher value of this metrics. Moreover, subjects assessed the counselling robot's trustworthiness and kindness as "very high" (Likert scale: 5.5 versus 3 -4.5) showing the effect of social gestures in promoting empathetic dialogue to general people including the younger generation. Our findings support the importance of social movements when using robotized agents as a therapeutic tool aimed at improving emotional state and social interactions, with unambiguous evidence that embodiment can have a positive impact that warrants further exploration. The 3D printable design of our robot supports creating culture-specific libraries of social movements, adapting the gestural repertoire to different human cultures.

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