International Journal of Social Robotics

, Volume 5, Issue 2, pp 153–169 | Cite as

Guidelines for Contextual Motion Design of a Humanoid Robot

  • Jinyung JungEmail author
  • Takayuki Kanda
  • Myung-Suk Kim


The motion of a humanoid robot is one of the most intuitive communication channels for human-robot interaction. Previous studies have presented related knowledge to generate speech-based motions of virtual agents on screens. However, physical humanoid robots share time and space with people, and thus, numerous speechless situations occur where the robot cannot be hidden from users. Therefore, we must understand the appropriate roles of motion design for a humanoid robot in many different situations. We achieved the target knowledge as motion-design guidelines based on the iterative findings of design case studies and a literature review. The guidelines are largely separated into two main roles for speech-based and speechless situations, and the latter can be further subdivided into idling, observing, listening, expecting, and mood-setting, all of which are well-distributed by different levels of intension. A series of experiments proved that our guidelines help create preferable motion designs of a humanoid robot. This study provides researchers with a balanced perspective between speech-based and speechless situations, and thus they can design the motions of a humanoid robot to satisfy users in more acceptable and pleasurable ways.


Contextual motion design Guideline Humanoid robot 



We thank Fumitaka Yamaoka, Takamasa Iio, Yusuke Okuno, and Shiga Miwa for their extensive help in making the scenario movies, and we also appreciate the technical assistance of Shunsuke Yoshida and Kazuhiko Shinozawa of ATR’s IRC Lab.


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Copyright information

© Springer Science+Business Media Dordrecht 2012

Authors and Affiliations

  1. 1.Dept. of Industrial DesignKorea Advanced Institute of Science and Technology (KAIST)Yuseong-guSouth Korea
  2. 2.Intelligent Robotics and Communications Lab.Advanced Telecommunication Institute InternationalSeika-choJapan

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