[1]XIN Jizhong,KE Xianxin,YANG Yang,et al.Development of the system of a humanoid robot head with facial expressions[J].CAAI Transactions on Intelligent Systems,2015,10(4):555-561.[doi:10.3969/j.issn.1673-4785.201503025]
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Development of the system of a humanoid robot head with facial expressions

CAAI Transactions on Intelligent Systems[ISSN 1673-4785/CN 23-1538/TP] Volume: 10 Number of periods: 2015 4 Page number: 555-561 Column: 学术论文—智能系统 Public date: 2015-08-25
Title:
Development of the system of a humanoid robot head with facial expressions
Author(s):
XIN Jizhong;  KE Xianxin;  YANG Yang;  SHANG Yufeng
School of Mechanical Engineering and Automation, Shanghai University, Shanghai 200072, China
Keywords:
humanoid robot head; facial expression; expression representation; human-computer interaction; control system; expression simulation; eye mechanism; jaw mechanism; neck mechanism
CLC:
TP242
DOI:
10.3969/j.issn.1673-4785.201503025
Abstract:
In order to promote the natural and harmonious communication between robots and human beings, and to realize human-computer interaction, a system for a humanoid robot head with facial expressions is developed. It mainly includes a humanoid robot head movement mechanism and a control system. The humanoid robot head has 22 degrees of freedom, including the eyebrows push-pull mechanism, eye mechanism, jaw mechanism and neck mechanism. FPGA is used as the servo controller, the control interface is designed in LabVIEW, and the control system of facial expressions is developed. The eight basic expressions and corresponding best displacement loads are obtained through simulations of facial expressions. It is found that the implementation of facial expression relates to the loads on the skin of face, the region size and the position of the load applying in the process of simulations. The experimental results show that the robot is able to realistically reproduce the eight basic expressions.
References:
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