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Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color

  • Tatsuhiro Kishi
  • Takuya Otani
  • Nobutsuna Endo
  • Przemyslaw Kryczka
  • Kenji Hashimoto
  • Kei Nakata
  • Atsuo Takanishi
Part of the CISM International Centre for Mechanical Sciences book series (CISM, volume 544)

Abstract

This paper describes the development of a new expressive robotic head for bipedal humanoid robot. Through a preliminary experiment, the authors defined the representative facial expressions for 6 basic emotions. To realize these facial expressions, 24-DoFs of mechanisms that allow wide moveable range, and facial color were needed on the face. We designed compact mechanisms that fit into the head of which major dimensions are based on average of adult Japanese female’s size. We conducted a questionnaire surveys to evaluate the facial expression recognition rates. The results show that facial expression recognition rates for 6 basic emotions were increased compared to the old head.

Keywords

Facial Expression Recognition Rate Humanoid Robot Basic Emotion Compact Mechanism 
These keywords were added by machine and not by the authors. This process is experimental and the keywords may be updated as the learning algorithm improves.

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Copyright information

© CISM, Udine 2013

Authors and Affiliations

  • Tatsuhiro Kishi
    • 1
  • Takuya Otani
    • 1
  • Nobutsuna Endo
    • 1
  • Przemyslaw Kryczka
    • 1
  • Kenji Hashimoto
    • 1
  • Kei Nakata
    • 1
  • Atsuo Takanishi
    • 1
    • 2
  1. 1.Department of Modern Mechanical EngineeringWaseda UniverityTokyoJapan
  2. 2.Humanoid Robotics Institute (HRI)Waseda UniversityTokyoJapan

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