Cengiz Kahraman - Toward Humanoid Robots: The Role of Fuzzy Sets: A Handbook on Theory and Applications

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Humanoid robots with their body shapes having a torso, a head, two arms, and two legs are the robots built to resemble all kinds of the movements of human body. Presently, humanoid robots are produced for functional purposes such as interacting with human tools and environments. For instance, a humanoid robot can work at a tourist information center. Humanoid robots may be also produced to resemble only a certain part of the human body. Some humanoid robots have heads designed to replicate human facial features such as eyes and mouths, whereas some humanoid robots have arms designed to do complex and toxic operations.

It cannot be stated that todays humanoid robots are very successful in imitating the movements of the human body. Real human emotions cannot be modeled by opening or closing their eyes while talking, moving them up or down or left and right. Humanoid robots must be able to express their emotions appropriately to what they see and/or hear. This can be possible using continuous logic, but never possible by discrete logic.

Fuzzy set theory based on a continuous logic has a great potential in modeling the movements and emotions of humanoid robots. Everything is a matter of degree in fuzzy logic. The facial expression of a person who becomes happy by hearing that her friend is married will be different from the facial expression of a person who is happy by hearing that her friend has successfully passed her Ph.D. exam. Hence, the way of smiling and its degree is different in each of these events. The vagueness and impreciseness in human thoughts can be captured by the fuzzy sets and their extensions.

The aim of this book is to present the theory and applications of fuzzy sets in modeling the movements and emotions of humanoid robots. This book involves 11 chapters, each written by the experts of that research area. The first chapter summarizes the present status of humanoid robots in the world. Besides, a literature review on humanoid robot publications is given and books, conferences, institutes, and journals on humanoid robots are presented.

The second chapter presents a comprehensive literature review on the recent developments and theories associated with fuzzy set extensions. The recently developed fuzzy set extensions from type-2 fuzzy sets to t-spherical fuzzy sets are classified and presented by their main definitions and operations.

The third chapter presents some fuzzy modeling techniques for facial expressions of a humanoid robot depending on the degrees of the emotions. Larger degree of emotion causes a stronger indicator of the facial mimic. Intuitionistic fuzzy sets and Pythagorean fuzzy sets are employed for modeling facial expressions.

The fourth chapter argues that to make sure that human-like robots exhibit human-like behavior, it is needed to use fuzzy techniques. The authors provide details of this usage. The chapter is intended for both researchers and practitioners who are very familiar with fuzzy techniques and also for researchers and practitioners who do not know these techniquesbut who are interested in designing human-like robots.