As a main direction in the research field of humanoid robot, facial robot take an important role in humanrobot interaction. This paper introduces the development and experiment of facial robot SHFR-III. The robot's head is consist of eyebrow mechanism, eyeball mechanism, lid mechanism, jaw mechanism and neck mechanism. As eyeball and neck mechanism need a more precise motion control in human-robot interaction, the inverse kinematic problems of eyeball and neck mechanism are analyzed in the paper. Experiment of recognition rate for the robot's 8 basic expression is also presented. Last, summary and further research plan are attached.

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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

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