## Abstract

Observe same phenomena K times, then one obtain K sample paths x_{1}(·), x_{2}(·), •••, xk(·) of the time series. The graphs of these K sample paths are similar, but they do not same exactly. Although the state x_{1}(t_{1}) at time ti of the 1 st sample path and the state X2(t2) at time t_{2} of the 2 nd sample path mean same events, t_{1}≠t_{2} and x_{1}(t_{1)}≠x_{2}(t_{2}) in general. Time normalization between two sample paths x_{1}(·) and x_{2}(·)is the process of finding the time t_{1}of the 1 st sample and the time t_{2} of the 2 nd sample path, such that x_{1}(t_{1}) and x_{2}(t_{2}) show same events. Consider graphs of two sample paths. If the local form of the graph of the sample xi at time t_{1}is similar to the one of the sample x_{2} at time t_{2}, we can think that xi(ti) and X_{2}(t_{2}) mean same events. In order to evaluate the similarity of the local forms of the graphs, the wavelet coefficients of the sample paths are used. If one know x_{1}(t_{1}), x _{2}(t2), ···, xk(tk) mean same events, one can normalize these time fluctuations and obtain new average time series x(t) where t=(t_{1} +···+t_{k})/K and x(t) = (x_{1}(t_{1})+···+x_{k}(t_{k})/K. This time normalization method is applied to action time series of a Bunraku puppet, for generation of humanoid robots’ actions with fertile emotions.

Original language | English |
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Pages (from-to) | 1890-1897 |

Number of pages | 8 |

Journal | Nihon Kikai Gakkai Ronbunshu, C Hen/Transactions of the Japan Society of Mechanical Engineers, Part C |

Volume | 66 |

Issue number | 646 |

DOIs | |

Publication status | Published - 2000 Jan 1 |

Externally published | Yes |

## Keywords

- Amusement Robot
- DP Matching
- Emotion
- Entertainment Robot
- Humanoid Robot
- Time Normalization

## ASJC Scopus subject areas

- Mechanics of Materials
- Mechanical Engineering
- Industrial and Manufacturing Engineering