The beauty of breaking rhythms: affective robot motion design using Jo-Ha-Kyū of bunraku puppet

One of the UNESCO intangible cultural heritages Bunraku puppets can play one of the most beautiful puppet motions in the world. The sophisticated motions of the Bunraku puppet can express emotions interactively with a fixed facial expression overcoming the so-called "Uncanny Valley", simultaneously. In the present paper, we study the Bunraku motions using the famous concept so-called "Jo(Introduction)-Ha(Breaking)-Kyu(Rapid)". These emotional motions are synchronized with the Jo-ha-kyu. As a result, an android robot can express different affective motion synchronized to the different type of emotional chant or narration with a story that we call Joruri.