To maintain utterance quality of a personaaware dialog system, inappropriate utterances for the persona should be thoroughly filtered.When evaluating the appropriateness of a large number of arbitrary utterances to be registered in the utterance database of a retrieval-based dialog system, evaluation metrics that require a reference (or a "correct" utterance) for each evaluation target cannot be used.In addition, practical utterance filtering requires the ability to select utterances based on the intensity of persona characteristics.Therefore, we are developing metrics that can be used to capture the intensity of persona characteristics and can be computed without references tailored to the evaluation targets.To this end, we explore existing metrics and propose two new metrics: persona speaker probability and persona term salience.Experimental results show that our proposed metrics show weak to moderate correlations between scores of persona characteristics based on human judgments and outperform other metrics overall in filtering inappropriate utterances for particular personas.

Although backdrivability is recognized as an important property of actuators, this term is often used without clear definition. In order to design mechanisms with advanced controllability, it is important to understand the fundamental mechanism of backdrivability. In this paper, we introduced idea of series elasticity and series dissipation of actuators. Based on this idea, total/output backdrivability and their fundamental properties are stated. EHA was shown to be series dissipative and it was confirmed from the model of the actuator. Utilizing the backdrivability of EHA, position based impedance control was implemented and evaluated. Application of this EHA in a robot hand is also reported.

Robots must have similar mechanical impedance characteristics to humans in order to make safe and efficient contact. This impedance requirement applies not only to the surface but also to the actuation mechanisms. The objective of this research is to develop inherently flexible actuator by realizing backdrivability. A class of hydraulic actuation called electro-hydrostatic actuator was applied to knee joint in humanoid robots to satisfy flexibility and large torque output simultaneously. This paper explains the methodology of performance evaluation of actuators and design concept of joint mechanism. Mathematical model of electro-hydrostatic transmission is also presented. Evaluation of backdrivability, inertia modification control, and compliance control of developed mechanism are performed.