Interacting with Humanoid Robots: Affective Robot Motion Design with 3D Squash and Stretch Using Japanese Jo-ha-kyu Principles in Bunraku

The Bunraku puppets’ affective motions are often praised as “one of the most beautiful motions in the world” by UNESCO. We characterize 3D “squash and stretch” motion in Bunraku puppet plays and realize them in a real life-size robot with unique mechanical structures. Our results reveal that the music tempos and the puppet movements of “squash and stretch” follow the principle so-called “Jo-Ha-Kyū,” which is artistic modulations in traditional Japanese performances. Our research reveals that the affective robot motion design with the 3D “squash and stretch” and Jo-Ha-Kyū principle is one of the keys in affective human-robot interactions.