Robotic Manipulator’s Expressive Movements Control Using Kinematic Redundancy

Round 1

Reviewer 1 Report

This work developed a scheme of conveying emotions via a robot arm while simultaneously executes main tasks.

Sharing emotion between human and robot is one of the key elements of human-robot interaction

 

I think the method presented in this work is interesting and important, but there are a couple of issues on paper. 

1. It is necessary to further summarize and compare the advantages and disadvantages of studies with respect to the sharing emotion in human-robot interaction.

2. The innovation and contribution of this paper need further elaboration.

3. How robot emotions are defined or set up requires further clarification.

Author Response

Please see the attachment.

Author Response File: Author Response.pdf

Reviewer 2 Report

This article deals with the issue of sharing emotions between a human and a robot. From the point of view of the future development of this field, it seems to be one of the most important elements of human-robot interaction (HRI). By sharing emotions, HRIs can be considered socially variable by humans, and robots would be able to work at full capacity without aversion/distraction from humans. Bringing emotions into the functionality of robots brings a new dimension to robot behavior and also a new dimension to mutual communication between humans and robots. Therefore, the solution to this issue is current and brings new and original results.
In this work, the authors solve a new method of introducing emotions into the interaction of a robot with a person, by the movements of the robot's arm while simultaneously performing the main work tasks. For this purpose, the authors use the kinematic redundancy of the robot arm, which enables the execution of additional movements that represent emotions.
This method uses a null-space control scheme to exploit the kinematic redundancy of the robotic manipulator. In addition, the concept of the maneuverability ellipsoid is used to maximize movement in kinematic redundancy.
Technically, the article is prepared at an excellent level and the chosen solution methods are appropriately chosen. Graphically, it is also well done. The results are presented in an understandable way. The presented results indicate useful results applicable in practice.

Comments:
Figure 1 is not referenced in the text of the article.
Figure 3 has a reference on line 149 and is earlier than the reference for Figure 2. Images should be placed in the article in the order of reference to these images.
Image 2 is of poor quality. Perhaps it would be good to add a side view.
Figure 7 is not referenced in the text of the article.
The text in the images should not be larger than the normal text of the article (for example, Fig. 2).
At the end of the article, there are no plans for future research in this area.
The italic style should not be used for units (for example line 632, 633, 634, 637)
There is a grammatical error on line 157: "end-effecotr"
Reference 7 does not have complete bibliographic data

Author Response

Please see the attachment.

Author Response File: Author Response.pdf