Physical properties of service robots which is referring to Joruri puppets

Recently, there have been a lot of researches on Internet of Things (IoT). We have proposed the active sensing system model using service robots. On this model, the robots collect and analyze user's behavior information while providing robot services. Based on this model, we implemented a questionnaire service using robots, and verified the effectiveness at large and small events for years. In this service, it is one of the important points to attract the target persons (customers) of sensing with the attractiveness of the robots. Therefore, we developed unique robots referring puppets of Ningyo-Joruri, which is the Japanese traditional puppet show registered as a UNESCO Intangible Cultural Heritage. Ningyo-Joruri has accumulation of techniques that have been inherited for hundreds of years. In this paper, we attempt to systematize a gesture generation model for utilizing the various gestures and manipulations of Joruri puppets on service robots. In addition, we extract and analyze the gestures of Joruri puppets, propose a method to generate the high-quality gestures on the service robots, and verify the effectiveness.