[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].智能系统学报编辑部,2015,(04):555-561.[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):555-561.[doi:10.3969/j.issn.1673-4785.201503025]
点击复制

具有面部表情的仿人头部机器人系统的研制(/HTML)
分享到:

《智能系统学报》编辑部[ISSN:1673-4785/CN:23-1538/TP]

卷:
期数:
2015年04期
页码:
555-561
栏目:
出版日期:
2015-08-25

文章信息/Info

Title:
Development of the system of a humanoid robot head with facial expressions
作者:
信继忠 柯显信 杨阳 尚宇峰
上海大学 机电工程与自动化学院, 上海 200072
Author(s):
XIN Jizhong KE Xianxin YANG Yang SHANG Yufeng
School of Mechanical Engineering and Automation, Shanghai University, Shanghai 200072, China
关键词:
仿人头部机器人面部表情表情再现人机交互控制系统表情仿真眼部机构下颚结构颈部机构
Keywords:
humanoid robot headfacial expressionexpression representationhuman-computer interactioncontrol systemexpression simulationeye mechanismjaw mechanismneck mechanism
分类号:
TP242
DOI:
10.3969/j.issn.1673-4785.201503025
文献标志码:
A
摘要:
为了促进机器人与人类自然、和谐的交流,实现人机交互,研制出具有面部表情的仿人头部机器人系统,主要包括仿人头部机器人运动机构和控制系统。仿人头部机器人具有22个自由度,包括眉毛推拉机构、眼部机构、下颚机构和颈部机构。采用FPGA作为舵机控制器,在LabVIEW中设计控制界面,研制面部表情控制系统。通过对面部表情进行仿真,得到8种基本表情及对应的最佳位移载荷,在仿真过程中发现面部表情的实现与施加在面部皮肤上载荷的大小、载荷施加区域大小和约束位置的不同有关。实验结果表明,该机器人能够逼真地再现8种基本表情。
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.

参考文献/References:

[1] KISHI T, KOJIMA T, ENDO N, et al. Impression survey of the emotion expression humanoid robot with mental model based dynamic emotions [C]//2013 IEEE International Conference on Robotics and Automation (ICRA). Karlsruhe, Germany: IEEE, 2013:1663-1668.
[2] DESTEPHE M, BRANDAOETC M, et al. Emotional gait: Effects on humans’ perception of humanoid robots [C]// The 23rd IEEE International Symposium on Robot and Human Interactive Communication. Edinburgh, Scotland, UK: IEEE, 2014:261-266.
[3] BECKER-ASANO C, ISHIGURO H, Evaluating facial displays of emotion for the android robot Geminoid F [C] //2011 IEEE Workshop on Affective Computational Intelligence (WACI). Paris: IEEE, 2011: 1-8.
[4] HASHIMOTO T, KOBAYASHI H, KATO N. Educational system with the android robot SAYA and field trial[C]//2011 IEEE International Conference on Fuzzy Systems, Taipei, 2011: 766-771.
[5] ZHENG Y F, WANG H, et al. Humanoid robots walking on grass, sands and rocks [C]// 2013 IEEE International Conference on Technologies for Practical Robot Applications (TePRA). Woburn, MA: IEEE, 2013:1-6.
[6] LUO R C, CHANG S R, YANG Y P. Tracking with pointing gesture recognition for human-robot interaction [C]// 2011 IEEE/SICE International Symposium on System Integration (SII). Kyoto: IEEE, 2011: 1220-1225.
[7] 李瑞峰,孙中远,王珂,等.具有面部表情识别与再现的机 器人头部系统的研制[J]. 机械设计与制造,2011 (7):95-97.LI Ruifeng, SUN Zhongyuan, WANG Ke, et al. Research of the robot head system with facial expression recognition and representation [J]. Machinery Design & Manufacture, 2011 (7):95-97.
[8] 孙中远.机器人头部机构与控制系统的研究[D].黑龙江:哈尔滨工业大学,2010:10-44.SUN Zhongyuan. Research on mechanism and control system of robot head [D].Heilongjiang: Harbin Institute of Technology, 2010:10-44.
[9] 苗鸿宾, 乔峰丽. 空间RSSR机构运动分析的研究[J]. 机械设计与制造, 2008, 02: 7-9.MIAO Hongbin, QIAO Fengli. Kinematic characteristics analysis research of spatial RSSR mechanisms [J].Machinery Design & Manufacture, 2008, 02: 7-9.
[10] 王钰栋, 金磊, 洪清泉, 等, HyperMesh & HyperView应用技巧与高级实例[M].北京:机械工业出版社, 2012:350-475.WANG Yudong, JIN Lei, HONG Qingquan, et al. HyperMesh & HyperView application skills and advanced examples[M],Beijing: Mechanical Industry Press, 2012:350-475.
[11] 柯显信,尚宇峰,卢孔笔. 基于HyperWorks仿人机器人面部表情仿真[J].制造业自动化,2015.37(1):118-121.KE Xianxin, SHANG Yufeng, LU Kongbi. Simulation of humanoid robot facial expression based on HyperWorks [J]. Manufacturing Automation, 2015.37(1):118-121.
[12] 赵慧,张婷婷. 一种基于FPGA的舵机伺服系统设计[J].机床与液压, 2010, 38(6): 59-61.ZHAO Hui, ZHANG Tingting. Design of servo motor control board based on FPGA [J]. Machine Tool & Hydraulics, 2010, 38(6):59-61.
[13] 李振锋.基于NIOS II的SOPC实验系统设计与开发[D].四川:西南交通大学,2012:23-41. LI Zhenfeng. Study and develop of SOPC test system based on NIOS II [D].Sichuan: Southwest Jiaotong University, 2012:23-41.
[14] 崔牧凡. 基于LabVIEW和FPGA的串口通信系统设计与实现[J].计算机应用, 2012, 32(S2):82-84.CUI Mufan. Design and implementation of serial communication system based on LabVIEW and FPGA [J]. Journal of Computer Applications, 2012, 32(S2):82-84.
[15] 尚宇峰,柯显信,卢孔笔.基于LabVIEW和FPGA的串 口通信舵机控制系统[J].制造业自动化,2014.36(11):112-114.SHANG Yufeng, KE Xianxin, LU Kongbi. Serial communication servo Control System based on LabVIEW and FPGA [J]. Manufacturing Automation, 2014.36(11):112-114.

相似文献/References:

[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].智能系统学报编辑部,2017,(04):468.[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.[doi:10.11992/tis.201609005]

备注/Memo

备注/Memo:
收稿日期:2015-03-14;改回日期:。
基金项目:国家自然科学基金资助项目(61273325).
作者简介:信继忠,男,1990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;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4项,发表学术论文10余篇;杨阳,男,1988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: 2015-08-28