Development of expressive robotic head for bipedal humanoid robot

摘要

This paper describes the development of a new expressive robotic head for the bipedal humanoid robot. Facial expressions of our old robotic head have low facial expression recognition rate and in order to improve it we asked amateur cartoonists to create computer graphics (CG) images. To realize such expressions found in the CGs, the new head was provided with 24-DoFs and facial color. We designed compact mechanisms that fit into the head, which dimensions are based on average adult Japanese female size. We conducted a survey with pictures and videos to evaluate the expression ability. Results showed that facial expression recognition rates for the 6 basic emotions are increased compared to the old KOBIAN's head.