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In order to make the robot produce expressive actions to express emotions, a robotic arm trajectory planning is proposed to perform emotions, which contains a fuzzy reasoner and a robotic arm kinematics feature mapping part. The fuzzy reasoner converts emotional factors and Human-Robot Interaction (HRI) factors into VA (Valence, Arousal) emotional model. And the VA values are mapped to the kinematics characteristics of the robotic arm joints through the kinematics characteristics, which are used to generate new motion trajectories. This method generates the motion trajectory of the robotic arm based on modifying the original trajectory according to the kinematics characteristics, and expresses different emotion. Meanwhile, the repetitiveness and predictability of emotion expression actions are solved. We used Matlab to simulate the motion trajectory of the robotic arms, and applied it to the emotional robot WEBO (We Robot). The generated robotic arm actions better express different emotions and achieve better HRI.
Consistency and consensus study for group decision making (GDM) with fuzzy preference relations (FPRs) are necessary, which have a decisive impact on the quality of decision results. Consistency can prevent self-contradictory judgments, and consensus limits the deviation among individual judgments within the preset threshold. Because acceptably multiplicative consistency still cannot avoid self-contradictory judgments, this article considers the ordinal consistency and acceptably multiplicative consistency simultaneously. In view of these aspects, we introduce a new optimal model-based method for GDM with FPRs. As minimum total adjustment and minimum individual adjustment may be inconsistent, we introduce the Solidarity consistency and consensus adjustment mechanism to allocate the minimum total adjustment, which fully considers the cooperation and solidarity among decision makers. When the So-CCAM does not exhibit stability, we present the nucleolus CCAM, which is the best element in the core according to lexicographical order. After that, an algorithm is offered. To demonstrate the application and efficiency of the new method, an illustrative example is offered, and a comparison is carried out. It offers the first optimization models-based method for GDM with FPRs in view of ordinal consistency, acceptably multiplicative consistency, and consensus analysis. Further, it provides two rational consistency and CCAMs by cooperative game theory.