Romansy 14 pp 519-526 | Cite as

Human-like Head Robot WE-3RV for Emotional Human-Robot Interaction

  • Hiroyasu Miwa
  • Hideaki Takanobu
  • Atsuo Takanishi
Part of the International Centre for Mechanical Sciences book series (CISM, volume 438)


The authors have been developing human-like head robots in order to develop new head mechanisms and functions for a humanoid robot that has the ability to communicate naturally with a human by expressing human-like emotions. We think that the personality of the robot is extremely important in attaining smooth and effective communication. We added new facial expression mechanisms to a human-like head robot WE-3RV (Waseda Eye No.3 Refined V) developed in 2001 so that the robot can express its emotion with more variety. Besides, we introduced a robot personality that consists of a Sensing Personality and an Expression Personality. We assigned and loaded six robot personalities into the robot based on human psychological method. Moreover, we did an experimental evaluation of WE-3RV with ordinary people in Mie, Toyama and Tokyo, Japan. We confirmed that WE-3RV’s facial expressions are effective to transmit its emotion.


Facial Expression Recognition Rate Humanoid Robot Average Recognition Rate Facial Color 
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

© Springer-Verlag Wien 2002

Authors and Affiliations

  • Hiroyasu Miwa
    • 1
  • Hideaki Takanobu
    • 2
    • 4
  • Atsuo Takanishi
    • 3
    • 4
    • 5
  1. 1.Graduate School of Science and EngineeringWaseda UniversityJapan
  2. 2.Department of Mechanical Systems EngineeringKogakuin UniversityJapan
  3. 3.Department of Mechanical EngineeringWaseda UniversityJapan
  4. 4.Humanoid Robotics InstituteWaseda UniversityJapan
  5. 5.Advanced Research Institute for Science and Engineering of Waseda UniversityJapan

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