收稿日期: 2014-09-11
网络出版日期: 2016-08-30
基金资助
国家自然科学基金资助项目(61273325); 国家重大科学仪器设备开发专项项目(2012YQ150087)
Mechanical scheme design of a humanoid facial expressions robot
Received date: 2014-09-11
Online published: 2016-08-30
Supported by
柯显信(1973—), 男, 副教授, 博士后, 研究方向为仿人机器人和人机情感交互等. E-mail: xxke@staff.shu.edu.cn
卢孔笔, 柯显信, 尚宇峰 . 仿人面部表情机器人头部机构方案设计[J]. 上海大学学报(自然科学版), 2016 , 22(4) : 432 -439 . DOI: 10.3969/j.issn.1007-2861.2014.04.011
To give richer facial expressions to humanoid countenance robot therefore achieve more harmonious interaction with people, a mechanical design of humanoid expressions is proposed by analyzing the generation of basic expressions and muscle movements, providing a hardware platform support for further study. The robot head consists of the mechanisms of eyebrows, eyelids, eyeballs, and neck, as well as the mechanism of jaw for mastication movement. Their working principles are described in detail, and several design choices are compared. The choice of mechanical design is finally made, and the required further research is specified.
[1] 吴伟国, 宋策, 孟庆梅. 仿人头像机器人“H&Frobot-Ⅲ”语音及口形系统研制与实验[J]. 机械设计, 2008, 25(1): 15-19.
[2] 王志良, 解仑. 我国人工心理与人工情感研究现状与进展[J]. 中国科学基金, 2013(1): 14-17.
[3] Becker-Asano C, Ishiguro H. Evaluating facial displays of emotion for the android robot Geminoid F [C]// IEEE Workshop on Affective Computational Intelligence (WACI). 2011: 1-8.
[4] Miwa H, Okuchi T, Takanobu H. Development of a new human-like head robot WE-4 [C]//IEEE/RSJ International Conference on Intelligent Robots and Systems. 2002: 2443-2448.
[5] Hashimoto T, Hitramatsu S, Tsuji T. Development of the face robot SAYA for rich facial expressions [C]// SICE-ICASE International Joint Conference. 2006: 5423-5428.
[6] Mazzei D, Lazzeri N, Hanson D, et al. HEFES: an hybrid engine for facial expressions synthesis to control human-like androids and avatars [C]// 2012 4th IEEE RAS & EMBS International Conference on BioRob. 2012: 195-200.
[7] Breazeal C. Designing sociable robots [M]. Cambridge: MIT Press, 2004: 165-167.
[8] 姜振宇. 表情的真相[M]. 香港: 商务印书馆, 2012.
[9] 李瑶, 杨男. 眼科学速记[M]. 北京: 中国医药科技出版社, 2010.
[10] 冯志成. 眼动人机交互[M]. 苏州: 苏州大学出版社, 2010.
[11] Olcucuoglu O, Koku A, Konukseven E. i-RoK: a human like robotic head [C]// 7th IEEERAS International Conference on Humanoid Robots (IROS). 2007: 442-446.
[12] Beira R, Lopes M, Pragma M, et al. Design of the robot-cub (iCub) head [C]// Proceedings of IEEE International Conference on Robotics and Automation (ICRA). 2006: 94-100.
[13] 邹海荣, 龚振邦, 罗均. 仿生眼的研究现状与发展趋势[J]. 机器人, 2005, 27(5): 469-474.
[14] 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(2): 7-9.
[15] Kishi T, Otani T, Endo N, et al. Development of expressive robotic head for bipedal humanoid robot [C]// IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS). 2007: 4584-4589.
[16] Wu W G, Men Q M, Wang Y. Development of the humanoid head portrait robot system with flexible face and expression [C]// Proceedings of the 2004 IEEE International Conference on Robotics and Biomimetics. 2004: 756-762.
[17] 彭忠琦. 并联机构的发展及应用[J]. 光机电信息, 2011, 28(12): 45-50.
/
| 〈 |
|
〉 |
