This article presents a humanoid robot head system S HFR-III including the mechanism, control system, and vision system. The humanoid robot head has 22 degrees of freedom. Its control system uses FPGA as the controller. Facial movements are realized through driving traction mechanisms by controlling servos. The vision system of the robot S HFR-III has a human-computer interaction interface with four kinds of work patterns, which includes facial expression recognitions and representations, face recognitions, gender recognitions and expression representations. The experiments show that the robot can recognize six basic expressions and vividly reproduce them.978-1-4673-9675-2/15/$31.00 © 2015 IEEE

Sound source localization plays a very important role in human-robot interactions. This paper presents a sound source positioning system based on a sensor array. The software hardware components of the system are illustrated. In addition, the paper designs a localization algorithm based on time difference of arrival for this system. The contents of the algorithm are described in detail. And the sound positioning depending on this algorithm is implemented. Finally, the usefulness and accuracy of the system is verified by a series of tests.978-1-4673-9675-2/15/$31.00 © 2015 IEEE