Modeling and design of a humanoid robotic face based on an active drive points model

Zhou, Yuhang; Ma, Gan

doi:10.1080/01691864.2013.867290

Cited by 16 publications

(10 citation statements)

References 5 publications

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“…The displacements of these feature points were obtained from video images and compared to verify if the android could replicate the facial expressions successfully. Yu et al (2014) investigated these basic emotions by comparing 13 facial feature points for a human male and his replica android with an optical motion capture system and calculated the average difference between the three-dimensional displacements as a similarity index of their facial deformations. The above studies analyzed the facial deformations as sparse distributions of displacement vectors.…”

Section: Introductionmentioning

confidence: 99%

Comparison Between the Facial Flow Lines of Androids and Humans

2021

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The behavior of an android robot face is difficult to predict because of the complicated interactions between many and various attributes (size, weight, and shape) of system components. Therefore, the system behavior should be analyzed after these components are assembled to improve their performance. In this study, the three-dimensional displacement distributions for the facial surfaces of two android robots were measured for the analysis. The faces of three adult males were also analyzed for comparison. The visualized displacement distributions indicated that the androids lacked two main deformation features observed in the human upper face: curved flow lines and surface undulation, where the upstream areas of the flow lines elevate. These features potentially characterize the human-likeness. These findings suggest that innovative composite motion mechanisms to control both the flow lines and surface undulations are required to develop advanced androids capable of exhibiting more realistic facial expressions. Our comparative approach between androids and humans will improve androids’ impressions in future real-life application scenes, e.g., receptionists in hotels and banks, and clerks in shops.

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Section: Introductionmentioning

confidence: 99%

Comparison Between the Facial Flow Lines of Androids and Humans

2021

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“…Up to now, the team in IRI, BIT, has developed 6 generations of BHR humanoid robots, from BHR-1 to BHR-6 (Huang et al, 2002;Huang et al, 2007;Yu et al, 2014b;Meng et al, 2015).…”

Section: Introductionmentioning

confidence: 99%

Historical Developments of BHR Humanoid Robots

Huang

Yang

Liao

et al. 2019

AHS

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Humanoid robots can achieve increasingly complex functions and adapt to more complex environments. To boost the development of humanoid robot technology, a team at Beijing Institute of Technology initiated the research on humanoid robots from 2000. Their research primarily focuses on stable walking, whole-body complex motion, human-robot interaction, and multimodal motion of humanoid robots. Thus far, the team has developed 6 generations of humanoid robots. The latest humanoid robot, BHR-6P, can achieve multi-mode motions (for example, walk, jump, fall protection, crawl and roll), which will significantly improve the ability of robot to adapt to the environment. This paper presented the historical evolution of BHR humanoid robots and outlined their functions and features.

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“…Robot faces are important information display devices that show several types of communication cues such as intention, attention, emotion, and demand, with the combined deformations of several facial parts. Movable mechanical parts of the android robot's face are covered with a flexible skin-like sheet to exhibit spatially-continuous lifelike surface deformations (Kobayashi et al, 1994 , 2000 , 2003 ; Weiguo et al, 2004 ; Hanson et al, 2005 ; Berns and Hirth, 2006 ; Hashimoto et al, 2006 , 2008 ; Oh et al, 2006 ; Lee et al, 2008 ; Allison et al, 2009 ; Becker-Asano et al, 2010 ; Becker-Asano and Ishiguro, 2011 ; Tadesse and Priya, 2012 ; Cheng et al, 2013 ; Chihara et al, 2013 ; Yu et al, 2014 ; Asheber et al, 2016 ; Glas et al, 2016 ; Lin et al, 2016 ). The skin sheet is supported by skull-shaped shells to maintain a life-like shape and is connected to internal movable mechanical parts at several points.…”

Section: Introductionmentioning

confidence: 99%

Identification and Evaluation of the Face System of a Child Android Robot Affetto for Surface Motion Design

Ishihara

Asada

2018

Front. Robot. AI

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Faces of android robots are one of the most important interfaces to communicate with humans quickly and effectively, as they need to match the expressive capabilities of the human face, it is no wonder that they are complex mechanical systems containing inevitable non-linear and hysteresis elements derived from their non-rigid components. Identifying the input-output response properties of this complex system is necessary to design surface deformations accurately and precisely. However, to date, android faces have been used without careful system identification and thus remain black boxes. In this study, the static responses of three-dimensional displacements were investigated for 116 facial surface points against a discrete trapezoidal input provided to each actuator in the face of a child-type android robot Affetto. The results show that the response curves can be modeled with hysteretical sigmoid functions, and that the response properties of the face actuators, including sensitivity, hysteresis, and dyssynchrony, were quite different. The paper further proposes a design methodology for surface motion patterns based on the obtained response models. Design results thus obtained indicate that the proposed response properties enable us to predict the design results, and that the proposed design methodology can cancel the differences among the response curves of the actuators. The proposed identification and quantitative evaluation method can be applied to advanced android face studies instead of conventional qualitative evaluation methodologies.

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Modeling and design of a humanoid robotic face based on an active drive points model

Cited by 16 publications

References 5 publications

Comparison Between the Facial Flow Lines of Androids and Humans

Comparison Between the Facial Flow Lines of Androids and Humans

Historical Developments of BHR Humanoid Robots

Identification and Evaluation of the Face System of a Child Android Robot Affetto for Surface Motion Design

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