Virtual Plate Based Controlling Strategy of Toy Play for Robot's Communication Development in JA Space

Toy play is a basic skill for a humanoid robot after it has joint attention (JA) ability. Because such skill is helpful for human-robot interaction and cooperation, we must realize this skill to enhance the robot's communication ability with person. In this paper, we researched a toy play controlling strategy in JA space based on a virtual plate with a serial robot arm, which has five degrees of freedom (5-DoF). For this purpose, a reachable space of joint attention was constructed firstly. And then the toy play controlling strategy was proposed in details. Here we used a virtual plate to enhance the toy play effect. In order to realize this skill better, toy play energy and some restraining relations were analyzed. By contrasting the audio waveform in the experiments, good performance effect of toy play was demonstrated.