Abstract
The study of emotional facial expressions and of emotional body language is currently receiving a lot of attention in various research areas. In this research, we study implicit bodily expression of emotions during standard motions such as walking forwards. An underlying assumption of our work is that all human motion is optimal in some sense and that different emotions induce different objective functions, which result in different deformations of normal motion. We created a 2-D rigid-body model of a human for which we use its dynamics simulation in an optimal control context. This approach allows us to obtain different styles of motion by using different objective criteria. We present the model, the optimal control problem formulation and the direct multiple-shooting method that efficiently solves this problem. The results of this work form the foundation for further analysis of emotional motions using inverse optimal control methods.
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Acknowledgements
The authors gratefully acknowledge the financial support and the inspiring environment provided by the Heidelberg Graduate School of Mathematical and Computational Methods for the Sciences, funded by DFG (Deutsche Forschungsgemeinschaft). Furthermore we want to thank the Simulation and Optimization research group of the IWR at Heidelberg University for giving us the possibility to work with the software package MUSCOD-II.
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Felis, M.L., Mombaur, K., Berthoz, A. (2014). Mathematical Modeling of Emotional Body Language During Human Walking. In: Bock, H., Hoang, X., Rannacher, R., Schlöder, J. (eds) Modeling, Simulation and Optimization of Complex Processes - HPSC 2012. Springer, Cham. https://doi.org/10.1007/978-3-319-09063-4_3
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DOI: https://doi.org/10.1007/978-3-319-09063-4_3
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