Human-in-the-loop Robot Control Method Based On Emotional Feedback

The emotional experience of users in the process of receiving services is an important criterion for evaluating the intelligence and performance of service robots.Mobile robots are an important category of service robots,and the robot navigation system adjusts its path planning and behavior to overcome various obstacles in the environment and complete the user's carrying needs.Although the existing robot navigation system has certain adaptability and planning ability in complex environments,it does not consider the real experience and emotional feelings of users during the service process.The subjective feelings and psychological needs of users cannot be satisfied,and the best service effect cannot be achieved.The purpose of this study is to effectively use human emotional feedback as the basis for mobile service robots to adjust their own service strategies,and to plan paths according to the user's emotional state,so that the mobile robot can efficiently complete tasks while taking care of the user's emotional state.Firstly,an evaluation system around emotion was established based on the relationship between emotional subjective evaluation and emotional physiological response.On the immersive human-computer interaction platform combined with virtual reality technology,the human-computer interaction experiment with distance as the influencing factor was carried out to obtain the change rule of human emotions,and the distance emotional model between obstacles and target points was established.Then,the concept of emotional potential field was proposed,and on this basis,an artificial emotional potential field path planning algorithm(AEPF)was proposed.Finally,a human-in-the-loop robot control framework based on emotional feedback was constructed,and the DDPG-AEPF algorithm was proposed to achieve a path planning balance mechanism that takes into account the coordination of task efficiency and user emotions.Simulation experiments show that the mechanism can effectively select the corresponding service strategy according to different task situations,and improve the user's psychological safety and emotional experience while taking into account the task efficiency.