Development of expressive robotic head for bipedal humanoid robot

Kishi, Tatsuhiro; Otani, Takuya; Endo, Nobutsuna; Kryczka, Przemyslaw; Hashimoto, Kenji; Nakata, Kei; Takanishi, Atsuo

doi:10.1109/iros.2012.6386050

Cited by 35 publications

(16 citation statements)

References 9 publications

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“…The iCub robot performs low speed movements with 3 degrees of freedom (DOF) on the neck and 3DOF for both the eyes [5,6]. The KOBIAN robot has 3DOF on the eyes, and 4 on the neck [7], similarly with the Research supported by BPI France in the frame of the ROMEO2 Project.…”

Section: Introductionmentioning

confidence: 99%

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Head-eyes system and gaze analysis of the humanoid robot Romeo

Pateromichelakis

Mazel

Hache

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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In this work we present the head assembly and the gaze shifting capabilities of the bipedal humanoid robot Romeo. The purpose of the head system is to provide a reliable hardware platform for Human-Robot Interaction (HRI) applications, stereo vision based navigation or gazing experiments, either as stand-alone version or in synergy with the body movements. Towards this purpose, the number of joints, the angular range, speed and acceleration of the eyes and neck rotations should be should be in agreement with human psychophysics, i.e. reproducing realistic kinematics. We present a mechatronic system of the head and neck; accompanied by experimental results of head-fixed eye movements, solely head rotations, as well as eye-head cooperative motion for large angles of gaze shifting. We compare the values achieved by the prototype, with those of an average adult human.

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Section: Introductionmentioning

confidence: 99%

“…Left: each eye mechanism consists of two DC motors (1) with reduction gearheads (2), encoders (3), the proximal links (4), the rotational joint (5), the camera board (6) and the plastic eye cover(7). Middle and right: the back and left side of the mechanism.…”

mentioning

confidence: 99%

Head-eyes system and gaze analysis of the humanoid robot Romeo

Pateromichelakis

Mazel

Hache

et al. 2014

2014 IEEE/RSJ International Conference on Intelligent Robots and Systems

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“…Waseda University's KOBIAN robot is capable of high facial expression and bipedal walking [1]. Tokyo University's SAYA robot has McKibben type pneumatic actuator mechanism [2].…”

Section: Introductionmentioning

confidence: 99%

Development and experiment of facial robot SHFR-III

Yang

Xin

et al. 2015

2015 IEEE International Conference on Mechatronics and Automation (ICMA)

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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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“…And it has the feature of voice interaction with its voice system; the humanoid robot Doki [2] developed by the Intelligent Earth of Scotland, its interactive multi-sensor system has two cameras, two motion sensors, a chemical sensor, a speaker and two microphones [3]. It has the features of fast face detection and gender identification; the bipedal humanoid robot KOBIAN developed by Takanishi laboratory of Waseda University, its visual system has the features of color recognition and visual tracking, its auditory system can identify the sound source, its nasal has four semiconductor gas sensors and can distinguish air alcohol, ammonia and cigarette smoke [4]; the H&F robot developed by Harbin Institute of Technology, its vision system has the features of face recognition and facial expression reproduction, its voice system has the features of voice recognition and voice broadcast, its olfactory system can identify three types of objective gas through the artificial lung [5]. This paper studies the sound positioning system of humanoid robot SHFR-III.…”

Section: Introductionmentioning

confidence: 99%

Sound positioning system of facial robot SHFR-III

Yun

Yang

et al. 2015

2015 IEEE International Conference on Robotics and Biomimetics (ROBIO)

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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

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Development of expressive robotic head for bipedal humanoid robot

Cited by 35 publications

References 9 publications

Head-eyes system and gaze analysis of the humanoid robot Romeo

Head-eyes system and gaze analysis of the humanoid robot Romeo

Development and experiment of facial robot SHFR-III

Sound positioning system of facial robot SHFR-III

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