具有面部表情的仿人头部机器人系统的研制

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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 head; facial expression; expression representation; human-computer interaction; control system; expression simulation; eye mechanism; jaw mechanism; neck 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.