DETC A METHOD FOR CREATIVE BEHAVIORAL DESIGN BASED ON ANALOGY AND BLENDING FROM NATURAL THINGS Kazuya Tsujimoto

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1 Proceedg of the ASME 28 Iteratoal Deg Egeerg Techcal Coferece & Computer ad Iformato Egeerg Coferece IDETC/CIE 28 Augut 3-6, 28, Brooly, New Yor, USA DETC A METHOD FOR CREATIVE BEHAVIORAL DESIGN BASED ON ANALOGY AND BLENDING FROM NATURAL THINGS Kazuya Tujmoto Shj Mura Departmet of Mechacal Egeerg, Kobe Graduate School of Scece ad Techology, Uverty, 1-1 Rooda-cho, Nada-u, Kobe Kobe Uverty1-1 Rooda-cho, Nada-u, Kobe , Japa , Japa Ara Tumaya Departmet of Mechacal Egeerg, Kobe Uverty, 1-1 Rooda-cho, Nada-u, Kobe , Japa Amareh Charabart Cetre for Product Deg ad Maufacturg, Ida Ittute of Scece, Bagalore 5612, Ida Yuar Naga School of Kowledge Scece, Japa Advaced Ittute of Scece ad Techology, 1-1 Aahda, Nom, Ihawa , Japa Tohharu Taura Departmet of Mechacal Egeerg, Kobe Uverty, 1-1 Rooda-cho, Nada-u, Kobe , Japa ABSTRACT I the ear future, robot ad CG (computer graphc wll be requred to exhbt creatve behavor that reflect deger abtract mage ad emoto. However, there are o effectve method to develop abtract mage ad emoto ad upport deger degg creatve behavor that reflect ther mage ad emoto. Aalogy ad bledg are two method ow to be very effectve for degg creatve behavor. The am of th tudy to propoe a method for developg deger abtract behavoral mage ad emoto ad gvg hape to them by cotructg a computer ytem that upport a deger the creato of the dered behavor. Th method focue o dervg prato from the behavoral apect of atural pheomea rather tha mply mmcg t. We have propoed two ew method for developg abtract behavoral mage ad emoto by whch a deger ca ue aaloge from atural thg uch a amal ad plat eve whe there a dfferece the umber of jot betwee the atural object ad the deg target. The frt method ue vual behavoral mage, the ecod ue rhythmc behavoral mage. We have demotrated example of deged behavor to verfy the effectvee of the propoed method. 1 INTRODUCTION I the ear future, robot ad CG (computer graphc wll be a trc part of huma lfe. They wll epecally play a mportat role etertamet ad art [1]. Hece, they wll be requred to exhbt creatve behavor that reflect deger abtract mage ad emoto. Furthermore, t expected that expereced layme a well a lled worer wll be able to deg creatve behavor, whch wll reult ovel product beg troduced ome feld uch a etertamet ad art. For example, you may dere to mae the oramet your room behave a you le ad chage ther behavor every day. It eceary for humaod robot ad CG character to reflect your abtract mage ad emoto ther behavor, o the behavoral patter that you ca feel cloer to them. I order to deg the behavoral patter of a artfcal beg, t eceary to gve a rough hape to abtract mage ad emoto. Th proce volve geeratg dea that reflect the deg cocept [2]. Followg th, the deger hould mplemet the deg cocretely ad optmze t. For example, whe degg the behavor of a robot arm, a deger frt geerate dea or rough mage of the type of movemet uch a powerful, mooth, zgzag, etc. Followg th, the eceary calculato ad draftg are doe. The deg of robotc behavor ha bee reearched extevely. However, mot of thee reearche clude dutral robot that are able to perform oly lmted ta a ther behavor are programmed depedg o the programmer peroal experece. Furthermore, t dffcult to deg complex behavor ug covetoal method. O the other had, reearche at the forefrot of deg egeerg have recogzed that aalogy ad bledg are very effectve degg creatve dea [3]. Keepg th md, M A propoed a effectve method of bledg behavoral crtera ad the degg creatve behavor [4] (Fg. 1. By ug th method, a deger ca elect h favorte behavor ad bled the crtera by whch the 1 Copyrght 28 by ASME

2 behavor ca be realzed ug the optmzato method o that the deger wll reflect h tate. However, the tal behavor were produced radomly, ad hece the deged behavor were cogruou wth the deger mage ad emoto. Obtag behavoral crtera radomly produced by GP (geetc programmg Producg behavoral patter by GA ( geetc algorthm The deger elect ay two dered patter Combg behavoral crtera elected by the deger by GP Obtag the crtero that produce the dered behavor Fgure 1. The ytem propoed by M A. Oe of the method ued to deg approprate tal behavor to ue the moto capture data of atural object uch a amal ad plat. Nowaday mage proceg techology ha made remarable progre [5]; hece, we ca ealy extract moto data from move of amal ad plat. However, there tll ext dfferece tructure betwee the deg target ad the atural object, uch a the umber of ther jot. Although we have developed a method to mtate the behavor of a model robot by aumg utable behavor crtera whe there a dfferece the umber of jot betwee a mtatg robot ad a model robot [6], t tll dffcult to reproduce the etre behavoral patter. I cocluo, there are o effectve method to develop abtract behavoral mage ad emoto ad upport deger degg creatve behavor that reflect ther mage ad emoto regardle of the umber of jot. The am of th tudy to propoe a method of developg abtract behavoral mage ad emoto ad gvg them a rough hape by developg a effectve computer ytem that upport a deger the creato of the behavor to be deged. Th method focue o dervg prato from the behavoral apect of atural pheomea rather tha mply mmcg t. I order to gve a rough hape to abtract mage ad emoto, we ue aalogy ad bledg. I th tudy, we have aumed that the deg target ha a led pole tructure. We mae th aumpto baed o the followg two pot: frt, t poble to repreet all atural object that have teretg moto a eletal tructure ug CG. Secod, th led-pole model the mot fudametal model ad ca be exteded to other model uch a a meatball, a polygo, etc. I th tudy, we propoe two ew method for developg abtract behavoral mage ad emoto by whch a deger ca ue aaloge from atural object uch a amal ad plat eve the cae where there a dfferece the umber of jot betwee the atural object ad the deg target. The frt method volve the ue of vual behavoral mage. The ecod oe ue rhythmc behavoral mage. Th paper orgazed a follow. Secto 2 provde a overvew of aalogy ad bledg. The, we pot out problem ug them the deg of creatve behavor. Secto 3 troduce Hermte terpolato. Secto 4 propoe a method to extract behavoral mage depedet of the umber of jot ad dcue a way to develop vual behavoral mage. I ecto 5, wavelet aaly ad the geetc algorthm are troduced, ad we propoe a method to extract rhythmc behavoral mage ad lear them. I ecto 6, example of behavor deged by thee ew method are demotrated. 2 ADAPTATION OF THE CREATIVE DESIGN PROCESS May tude have bee coducted to aalyze the charactertc of the deg thought proce from the vewpot of creatvty. A a reult, t ha bee foud that aalogcal thg ad cocept-ythezg procee uch a bledg are ey to creatve thg [3]. 2.1 Aalogcal Reaog ad Metaphor: Aalogcal reaog ad metaphor are ow to play very mportat role creatve deg (Gero ad Maher 1991; Goldchmdt 21. For example, the Swa char, a famou example of deg, wa maged ug aalogy [3]. The form of the char reemble a wa: meage that th char oft ad elegat le a wa to uer. Aalogcal reaog ad metaphor are method of cocept creato that volve developg a ew cocept from a extg cocept. I practce, they are frequetly ued the deg proce. I th thought proce, the deg reult ad the bae object hare ome commo feature uch a hape ad fucto. 2.2 Cocept Bledg: The ma role of aalogcal reaog ad metaphor are to udertad or to trafer ow cocept, that, t aalytc rather tha ythetc ce t prmtve proce the extracto of ome feature from ow cocept by aalyzg t [3]. From the vewpot of metal cogto the doma of cogtve cece, Fe et al. (1992 decrbed coceptual ythe a a effcet mea of developg creatve ght to ew veto ad carred out expermet o creato that volved metal product geerated by magery ythe [7]. It ha bee poted out that the developmet of creatve thg that related to the traformg of cocept [8] (Bode 24 or coceptual pace [9] (Gardefor 2 eceary to upport huma creatvty. O the other had, tude o cogtve lgutc, Faucoer (1994 focued o the cotructo proce of meag ordary dcoure. He aalyzed how coceptual tegrato create metal product ad how to deploy ytem of mappg ad bledg betwee metal pace [1]. From the vewpot of metal pace theory, he howed that coceptual tegrato operate o two put metal pace to yeld a thrd pace that called the bled. The bleded pace hert partal tructure from the put pace ad ha emerget tructure of t ow. Both metal product, magery ad dcoure, have how emerget feature ad have tmulated creatvty. We ca th of cocept bledg a a proce whch two bac cocept are bleded at a abtract level ad a ew cocept that hert ome abtract feature of the two bae cocept but cocrete feature of ether geerated. For example, f oe were to deg omethg by combg the cocept of a mucal trumet ad a dre, the deg reult could be a we gla that duce melody by 2 Copyrght 28 by ASME

3 bledg the cocept of a party ad that of trg [3]. Aalogy Bae Object Abtracto Target Object I th tudy, we aume that deger ca extract moto data from vdeo data by ug the latet mage proceg techque. Frt, they ue IDEA-INSPIRE to earch for amal ad plat that are cogruou wth ther mage ad emoto. Followg th, they put the extracted moto data to the method developed th tudy. Bledg Object1 Object2 New Object Fgure 2. Aalogy ad Bledg. 2.3 Aalogy by Nature: The mportace of learg from ature ha log bee recogzed ad attempt have bee made by reearcher le Vogel (1988 ad Frech (1998 to lear from ature wth product developmet md [11]. Sytem the atural world ad ther fuctoalty are ee a rch ource of prato for the geerato of dea. Hece, we ue atural object a bae object for aalogy. Charabart developed a computatoal tool for upportg deger the geerato of ovel oluto for product deg problem by provdg atural or artfcally pred ad aalogcal dea; h am wa to tate wor ytematc bommetc ad to develop a tegrated approach for ytematc dea geerato product deg ug prato from atural ad artfcal ytem [11]. The ame of th ytem IDEA-INSPIRE [Charabart et al. 24]. Deger ca ue the corpu of dvere moto that ature provde a a potet ource for olvg product deg problem ad a a prato for developg creatve ad ovatve ovel product. The databae of atural ytem ha bee developed wth approxmately 1 etre from the plat ad the amal doma [11]. The moto aalyzed are vared both the meda whch they occur. The formato collected cota detal about the fucto, behavor, ad tructure of thee ytem a perceved the ource materal [11]. The type of formato collected clude wrtte, dagrammatc, pctoral, ad vdeo data about the ytem ad ther vared moto [11]. The SAPPhIRE model [11] ued to repreet the etre the databae, ad reaog procedure are developed to help browe ad earch for the etre that are aalogcally relevat for olvg a deg problem. Fgure 3. IDEA-INSPIRE [Charabart et al. 24]. 2.4 Vual Image ad Rhythmc Image: I order to develop behavoral mage ad emoto ad gve them a rough hape, t eceary to defe them. From the vewpot of phycal pheomea, behavor ca be decrbed ug phycal quatte uch a accelerato ad velocty. However, t ot poble to calculate phycal quatte whle mtatg the behavor of omethg. The feature of behavor hould be more tutve ature. I th tudy, we aume that behavoral mage ca be dvded to two group vual behavoral mage ad rhythmc behavoral mage. A vual behavoral mage lterally what a behavor loo le. Th mage ca be repreeted ug mmetc word. For example, a ae behavor termed a zgzag ; th word voe vual mage. A rhythmc behavoral mage repreet a way of chagg quatte uch a the agle of jot ad velocte. Th mage ca be repreeted ug oomatopoec word. For example, we uually ue the word hop to decrbe a frog behavor; th word repreet rhythmc behavoral mage. However, a part of vual behavoral mage ad a part of rhythmc behavoral mage depedet o each other. Oe of the am of th tudy to dtguh rhythmc behavoral mage from vual behavoral mage. I the ext ecto, we decrbe the Hermte terpolato theory, whch play a mportat role th tudy. Vual mage Behavoral mage Rhythmc mage Fgure 4. Relato betwee behavoral mage. 3 Copyrght 28 by ASME

4 Δt 1 Δt Δt Pcture y = 2 = 1 Y y Y Object 1 Object 2 Object 1 Object 2 = 4 = 3 x X x X Hermte polyomal x 1,1( X 1.1( Y 1.1( x, 1( y, 1( X, 1( Y, 1( y 1,1( Shape mage (terpolated at defed pot Hermte polyomal x 1,2( y 1,2( X 1,2( Y 1,2( x, 2( y, 2( X, 2( Y, 2( w x Bleded polyomal w X 1 1,2 2 1,2 w Y 1 1,2 2 1,2 Bleded hape mage Traferred pcture Step 1 Step 2 Step 3 Step 4 Step 5 Step 6 Step 7 Fgure 5. Abtractg vual behavoral mage ad bledg. 3 HERMITE INTERPOLATION Hermte terpolato a method that allow u to coder gve dervatve at data pot a well a the data pot themelve. The terpolato repreeted a a polyomal that ha a degree le tha or equal to the umber of both data pot ad ther dervatve mu 1 [12]. P( x = = h ( x f ( x = g ( x f ( x gve the uque Hermte terpolatg fudametal polyomal for whch [12] P( x = f ( x (2 P ( x = f ( x where ( =,1, 2,..., x deote the pot. The polyomal h (x ad g (x the fudametal Hermte terpolatg polyomal are defed a follow [12]: h ( x = {1 2L ( x g ( x = ( x x { L ( x x ( x} 2 }{ L ( x} where ( =,1, 2,..., The fudametal polyomal of Lagrage terpolato are defed by [12] 2 w y ( w, w2 1 w x w X 1,2 2,2 w y w Y 1 1,2 2,2 ( w, w2 1 1 L ( x = L ( x = m= m= x x x x x m m 1 x (1 4 APPROACH 1 DEVELOPMENT OF VISUAL BEHAVIORAL IMAGES Sce th tudy am to extract ad develop behavoral mage regardle of the umber of jot, we capture moto a a equece of pcture ad extract mooth mage from each pcture ug Hermte terpolato. A vual behavoral mage a collecto of thee mooth hape mage. (3 However, th collecto caot be drectly appled to aalogy or bledg ce the umber of term Hermte terpolato polyomal dffer accordg to the umber of ample data pot. Therefore, the ecod et of Hermte terpolato polyomal obtaed from the frt terpolated data at the defed pot, o that the umber of term thee polyomal are equal all the ample. The followg method ued to extract vual behavoral mage ad trafer them to a deg target (Fg. 5. Step 1 Moto data dvded to obta a collecto of equece frame (pcture. Step 2 Hermte terpolato polyomal are obtaed each frame (I fg. 5, the parameter repreetg the umber of pot. Step 3 Iterpolato carred out at defed pot to acqure mooth mage. m (4 4 Copyrght 28 by ASME

5 Step 4 Hermte terpolato polyomal are obtaed aga each frame (the umber of term Hermte terpolato polyomal are the ame. Step 5 The Hermte terpolato polyomal are bleded (calculatg weghted average. The weght ca be chaged by the deger. Step 6 Iterpolato carred out at ome pot correpodg to the deg target Step 7 The data of defed pot traferred to the correpodg jot of the deg target. 5 APPROACH 2 DEVELOPMENT OF RHYTHMIC BEHAVIORAL IMAGE I th tep, we ue wavelet aaly ad the geetc algorthm to trafer rhythmc behavoral mage to deg target. 5.1 Wavelet Aaly: The fudametal dea of wavelet to aalyze gal accordg to cale. Wavelet are fucto that atfy certa mathematcal requremet ad are ued to repreet data or other fucto. I wavelet aaly, the cale that oe ue for loog at data play a pecal role. Wavelet algorthm proce data at dfferet cale or reoluto. If we loo at a gal wth a large wdow, we would oly otce overall feature [13]. However, f we loo at a gal wth a mall wdow, we would otce mall dcotute [13]. Ug wavelet aaly, we ca oberve the data detal ad aalyze dcotute the chage. The aaly performed ug cotracted hghfrequecy vero of the prototype wavelet. The wavelet aaly procedure adopt a wavelet prototype fucto called a aalyzg wavelet or mother wavelet [13]. I th tudy, we ue Daubeche wavelet [13] a wavelet prototype fucto. Becaue the orgal gal or fucto ca be repreeted term of a wavelet expao (ug coeffcet a lear combato of the wavelet fucto, data operato ca be performed ug oly the correpodg wavelet coeffcet [13]. Moreover, f the bet wavelet that ca be adapted to the data are choe or the coeffcet below a threhold are trucated, the amout of data ca be reduced [13]. Th pare codg mae wavelet a excellet tool the feld of data compreo. 5.2 Geetc Algorthm: Geetc algorthm are pred by Darw theory of evoluto. We have developed a oluto ug the geetc algorthm. I geeral, a algorthm tart wth a et of oluto (repreeted by chromoome called a populato [14]. The oluto from oe populato are tae ad ued to form a ew populato [14]. Th doe to eure that the ew populato wll be better tha the old oe. Soluto are elected to form ew oluto (offprg baed o ther fte the more utable they are, the greater the chace of reproducto [14]. Th proce repeated utl ome codto (for example, the umber of populato or the mprovemet of the bet oluto atfed. The geetc algorthm (GA traform a populato of dvdual behavor to a ew geerato ug the Darwa evolutoary prcple ad aturally occurrg geetc operato uch a croover ad mutato [14]. Each dvdual the populato repreet a poble behavor. The dvdual the populato are uually fxed-legth character trg pattered after chromoome trg. GA attempt to fd a very good behavor or the bet behavor by geetcally breedg the populato of dvdual. The bac operato of the geetc algorthm are mple ad traght forward [14]: Reproducto: The act of mag a copy of a potetal oluto. Croover: The act of wappg gee value betwee two potetal oluto, mulatg the matg of the two oluto. Mutato: The act of radomly alterg the value of a gee a potetal oluto. It eceary to be able to evaluate how good a potetal oluto relatve to the other potetal oluto. The fte fucto repoble for performg th evaluato ad returg a potve teger umber, or fte value that reflect how optmal the oluto : the hgher the umber, the better the oluto [14]. The fte value are the ued a proce of atural electo to chooe whch potetal oluto wll cotue o to the ext geerato ad whch wll de out. 5.3 How to Obta Rhythmc Behavoral Image: Frt, we aalyze the tadardzed chage the agle of pot correpodg to a deg target ug Daubeche wavelet ad place the reult to a databae. Next, order to reflect rhythmc behavoral mage the deg target, we ue the GA. We eed to decde o the maeup of the chromoome, whch clude the umber of gee ad what thoe gee repreet. I th tudy, a chromoome repreet a tme ere of the agle of a jot. We et up a gee to repreet a agle a frame (Fg. 6. It eem reaoable th tudy that the meaure of fte the GA would be a correlato betwee the rhythm of atural object ad thoe of the deg target. I GA, the ytem aalyze the tadardzed chage the agle of jot a deg target ug Daubeche wavelet ad the evaluate the correlato. Through th method, t poble to deg behavor that reflect rhythmc behavoral mage eve f the behavor are apparetly ot ale. The procedure explaed a follow: Step 1 The frt three tep of approach 1 are performed. Step 2 The terpolated data coverted to a tme ere ad the chage the agle are calculated at each terpolated pot. Step 3 The chage the agle are tadardzed at each terpolated pot. Step 4 Rhythmc feature are aalyzed ug Daubeche wavelet at each terpolated pot (put gal are the tadardzed chage the agle ad output gal are the coeffcece. The frt four tep are performed o two atural object to be bleded. Step 5 The populato aalyzed ug GA. 5 Copyrght 28 by ASME

6 Step 6 The correlato betwee the rhythm of two atural object ad thoe of a deg target are evaluated ad certa chromoome are elected for breedg (The correlato calculated at each pot correpodg to a deg target. Step 8 The procedure cotue through a umber of terato betwee Step 5 ad Step 7 utl a deg target ca lear the rhythm. Step 7 The chromoome are evolved. Natural object 1 Natural object Δt Δt Δt Δt Δt Δt θ ( ( 1 Chage the agle θ θ ( ( 1 ( =,1, 2,..., Stadardzato : pot umber correpodg to a deg target θ Chage the agle ( =,1, 2,..., Stadardzato Sgal proceg ug Daubeche wavelet Sgal proceg ug Daubeche wavelet Wavelet coeffcece Wavelet coeffcece Evaluate correlato Wavelet coeffcece Evaluate correlato Sgal proceg ug Daubeche wavelet Stadardzato Chage the agle GA codg Chromoome of a pot (1 1 θ( θ ( θ θ (2 θ ( 1 2 ( =,1, 2,..., -1 ( j 36 j θ : frame umber : jot umber deg target Jot 1 (θ 1 Jot (θ Jot 2 (θ 2 Fgure 6. Extractg ad obtag rhythmc mage by GA.. 6 Copyrght 28 by ASME

7 Extractg rhythm of atural object Acqurg vual behavoral mage of a atural object The behavor whoe rhythm the mot mlar to thoe of the atural object output The terpolated data (vual behavoral mage coverted to a tme ere Storg the wavelet coeffcece the databae Learg rhythm of atural object by GA Behavor whoe rhythm are mlar to thoe of the atural object are evolved The chage the agle are calculated at each terpolated pot. Aalyzg rhythm by wavelet aaly Evaluatg mlarty betwee the atural object ad geerated behavor 6 EXAMPLE OF BEHAVIORAL DESIGN USING THE PROPOSED METHODS We deged jumpg ad wavele behavor for a robot arm o CG by ug the two propoed method. The tructure of the robot arm how Fg. 8. Frt, we deged ug vual behavoral mage. Next, we deged ug rhythmc behavoral mage. Deger ca earch for ay atural ytem ug IDEA-INSPIRE. I th example, we created amato of atural object tead of extractg moto data by mage proceg. We ued the movemet of frog ad ae a the bae object for aalogy both vual ad rhythmc operato. y o Jot Jot 1 l 2 1 (θ 1 (θ θ 36 x Jot 2 (θ 2 Fgure 8. Structure of a deg target. l l 3 l = 1 ( =,1, 2 Jot 3 Italzg populato (Geeratg may behavoral patter The chage the agle are calculated at each jot calculato flow referece Aalyzg rhythm by wavelet aaly Fgure 7. The procedure of learg rhythmc behavoral mage. 6.1 Example of approach 1 vual mage: We deged jumpg ad wavele behavor for a robot arm ug approach 1, whch trafer vual behavoral mage to a deg target. Fgure 9 how ome frame equece of the vual mage of a frog ad ome frame equece of the vual mage of a ae. Fgure 1 how ome frame equece of bleded vual behavoral mage. The weght for the bledg are how Table 1. Fgure 11 how ome frame equece of the deged behavor for the robot arm. Table 1. The weght for bledg. Item Value Weght 1.5 Weght Copyrght 28 by ASME

8 Vual mage of frog Vual mage of ae Bleded vual mage Fgure 1. Bleded mage. Deged robot arm behavor Fgure 11. Deged behavor of a robot arm. Fgure 9. Sequeced frame of the vual mage of a frog ad a ae. 8 Copyrght 28 by ASME

9 7 Example of Approach 2 rhythmc mage: We deged jumpg ad wavele behavor for a robot arm ug approach 2, whch utlze rhythmc behavoral mage. The extracted rhythmc behavoral mage are how Fg. 12 ad Fg. 13. The ytem radomly geerate agle betwee ad 9 at each gee ad calculate the chage the agle. The parameter of GA are how Table 2. The deged behavor how Fg. 14. Rhythmc mage of frog Deged robot arm behavor Fgure 12. Rhythmc mage of a frog. Rhythmc mage of ae Fgure 13. Rhythmc mage of a ae. Table 2. GA parameter. Item Value Populato 1 Number of Geerato 2 Probablty of Croover.6 Probablty of Mutato.3 Fgure 14. A deged behavor obtaed ug rhythmc mage. 8 SUMMARY AND CONCLUSIONS I th paper, we have propoed two ew method for developg abtract behavoral mage ad emoto by whch a deger ca ue aaloge from atural thg uch a amal ad plat eve whe there a dfferece the umber of jot betwee the atural object ad the deg target. The frt method ue vual behavoral mage, the ecod ue rhythmc behavoral mage. We ued Hermte terpolato to extract behavoral mage depedet of the umber of jot. We ued wavelet aaly ad the GA to abtract ad lear the rhythmc mage, repectvely. We mulated the deg of behavor ug the propoed method ad deged creatve behavor that reflect the mage of the orgal object. Creatve behavor of a robot arm hould atfy utlty a well a ovelty. It hould be explaed how the behavor geerated by the method atfe the utlty requremet of creatvty. However, th tudy we have oly focued o the geeratg proce of creatve behavor. I the future, we ted to evaluate the creatvty of the behavor deged by the two method th wor from the vewpot of orgalty ad utlty. I addto, we alo pla to develop a earchg method ug rhythmc behavoral mage. 9 Copyrght 28 by ASME

10 9 REFERENCES [1] Bllard, A., 2, Dream ad mtato robot, Proceedg of the Socally Itellget Aget-The Huma the Loop, AAAI Fall Sympoum, Melo Par, CA, pp [2] Pahl, G., ad Wolfgag, B., Egeerg deg: a ytematc approach, Sprger-Verlag, Berl Ltd. [3] Taura, T., Naga, Y., 25, Prmtve ad Prcple of Sythetc Proce for Creatve Deg, Computatoal ad Cogtve Model of Creatve Deg Ⅵ, pp [4] A, M., Taura, T., Shoe, T., 27, A tudy o Acqurg Uderlyg Behavoral Crtera for Mapulator Moto by Focug o Learg Effcecy, IEEE Traacto o Sytem, Ma, ad Cyberetc, Vol. 37 (4, pp [5] Gozalez, R., ad Wood, R., 27, Dgtal Image Proceg, Pretce Hall, US. [6] A, M., Kagawa, K., ad Taura, T., 23, A tudy o acqurg model crtero focug o learg effcecy, Proceedg of the Twelfth IASTED Iteratoal Coferece o Appled Smulato ad Modelg. [7] Fe, R., Ward, T., ad Smth, S., 1992, Creatve Cogto: Theory, Reearch, ad Applcato, Cambrdge, the MIT Pre, A Bradford Boo, Lodo. [8] Bode, A., 24, The Creatve Md Myth ad Mecham, Routledge. [9] Gardefor, P., 2, Coceptual Space, the MIT Pre, A Bradford Boo, Lodo. [1] Faucoer, G., ad Turer, M., 22, The Way We Th Coceptual Bledg ad the Md Hdde Complexte, Bac Boo, NY. [11] Charabart, A., Sarar, P., Leelavathamma, B., ad Nataraju, B.S., 25, A fuctoal repreetato for adg bommetc ad artfcal prato of ew dea, Artfcal Itellgece for Egeerg Deg, Aaly ad Maufacturg, Vol. 19 (2, pp [12] Ralto, A., ad Rabowtz, P., 21, A Frt Coure Numercal Aaly, DoverPublcato, UK. [13] Percval, D., ad Walde, A., 2, Wavelet method for tme ere aaly, Cambrdge Uverty Pre, UK. [14] Mette, K., Nettaama, P., Peraux, J., ad Maela, M., 1999, Evolutoary Algorthm Egeerg ad Computer Scece: Recet Advace Geetc Algorthm, Evoluto Stratege, Evolutoary Programmg, Geetc Programmg ad Idutral Applcato, Joh Wley & So Ltd, UK. 1 Copyrght 28 by ASME