Fig. 1. Field test. 그림 1. 로봇 현장 실험
Fig. 2. Robot structure and skin. 그림 2. 로봇 뼈대 및 외관
Fig. 3. Controller block diagram. 그림 3. 제어기 블록 선도
Fig. 4. Representative emotional action. 그림 4. 대표적인 감정표현 동작
Fig. 5. Data graph for three representative Emotions. 그림 5. 3가지 감정의 데이터 그래프
Fig. 6. Speech data acquisition and transmission. 그림 6. 음성 데이터 수집 및 전송
Fig. 7. Spectrogram of three speeches. 그림 7. 3가지 음성의 스펙트로그램
Fig. 8. Control process. 그림 8. 제어기 동작 순서
Fig. 9. Sampled data graph. 그림 9. 음성과 노이즈 데이터 그래프
Fig. 10. Designed ANN. 그림10.설계된 인공신경망 구조
Fig. 11. LSTM learning process. 그림11.LSTM 학습 과정
Fig. 12. Actions using speech data. 그림12. 음성 명령에 의한 로봇 동작
Fig. 13. comparison to Desired value and LSTM output. 그림13. 목표값과 LSTM 출력값 비교
Table 1. Action table of robot. 표 1. 고양이 로봇의 동작 테이블
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