[1]柯显信,云亚文,邱本锐.不同个性的情感机器人表情研究[J].智能系统学报,2017,(04):468-474.[doi:10.11992/tis.201609005]
 KE Xianxin,YUN Yawen,QIU Benrui.Research on expressions of the Humanoid robot based on personalities[J].CAAI Transactions on Intelligent Systems,2017,(04):468-474.[doi:10.11992/tis.201609005]
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《智能系统学报》[ISSN:1673-4785/CN:23-1538/TP]

卷:
期数:
2017年04期
页码:
468-474
栏目:
出版日期:
2017-08-25

文章信息/Info

Title:
Research on expressions of the Humanoid robot based on personalities
作者:
柯显信 云亚文 邱本锐
上海大学 机电工程与自动化学院, 上海 200072
Author(s):
KE Xianxin YUN Yawen QIU Benrui
School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, China
关键词:
情感机器人面部表情情感模型个性人脸模型弹性皮肤有限元仿真控制区域
Keywords:
humanoid robotfacial expressionsemotion modelpersonalityfacial modelelastic skinfinite element simulationcontrol regions
分类号:
TP242
DOI:
10.11992/tis.201609005
摘要:
在情感机器人研究中,不同个性的面部表情是情感机器人增强真实感的重要基础。为实现情感机器人更加丰富细腻的表情,将人类的个性特征引入情感机器人,分析个性理论和情感模型理论,得知不同个性机器人的情感强度。结合面部动作编码系统中面部表情与机器人控制点之间的映射关系,得到情感机器人不同个性的基本表情实现方法。利用Solidworks建立情感机器人脸部模型,在ANSYS工程软件中将SHFR-Ⅲ情感机器人脸部模型设置为弹性体,通过有限元仿真计算方法,对表情的有限元仿真方法进行了探究,得到实现SHFR-Ⅲ不同个性基本表情的控制区域载荷大小和仿真结果。最后,根据仿真结果,进行SHFR-Ⅲ情感机器人不同个性的表情动作实验。实验结果表明,有限元表情仿真可以指导SHFR-Ⅲ情感机器人实现近似人类的不同个性的基本面部表情。
Abstract:
In humanoid robot research, the facial expressions of different personalities are an important basis for enhancing the realism of humanoid robots. To achieve more vivid emotional expression by robots, in this paper, we introduce human personality characteristics into robots, based on the personality and emotional model theories, and determine the emotional intensity of robots with different personalities. By mapping the relationship between facial expressions and robot control points in the facial action coding system, we obtained a basic expression implementation method for humanoid robots with different personalities. We used Solidworks software to establish the facial model for the emotional robot and set the model as an elastomer in ANSYS. Using the finite element simulation calculation method, we explored its expression capabilities, and obtained the load sizes of the control regions that realize basic expressions in the humanoid robot SHFR-Ⅲ and simulation results. Based on these simulation results, we conducted expression experiments with the humanoid robot SHFR-Ⅲ for different personalities. Our experimental results show that these simulation results can guide the humanoid robot SHFR-Ⅲ to achieve basic humanlike facial expressions associated with different personalities.

参考文献/References:

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相似文献/References:

[1]信继忠,柯显信,杨阳,等.具有面部表情的仿人头部机器人系统的研制[J].智能系统学报,2015,(04):555.[doi:10.3969/j.issn.1673-4785.201503025]
 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,(04):555.[doi:10.3969/j.issn.1673-4785.201503025]

备注/Memo

备注/Memo:
收稿日期:2016-09-07。
基金项目:国家自然科学基金项目(61273325).
作者简介:柯显信,男,1973年生,副教授,博士后,主要研究方向为仿人机器人和人机情感交互。主持或参与国家"863"项目和上海市科委重点项目等科研项目10余项。获国家发明专利授权10项,发表学术论文30余篇;云亚文,男,1991年生,硕士研究生,主要研究方向为仿人机器人和人机情感交互;邱本锐,男,1992年生,硕士研究生,主要研究方向为仿人机器人和人机情感交互。
通讯作者:柯显信,E-mail:xxke@staff.shu.edu.cn.
更新日期/Last Update: 2017-08-25