机器人头部机构与控制系统的研究机械电子工程专业论文.docxVIP

A Abstract - - II - Abstract With the development of the intelligent service robot, the robots with human-robot interaction function are becoming important trends. The human-robot interaction technology based on facial expression recognition and reproduction has been becoming a research highlight, face interaction plays an irreplaceable role in the service robots human-robot interaction. Therefore, the facial expression reproduction is of great importance in intelligence, emotion and humanization of human-robot interaction. The humanoid robot head system with facial expression reproduction functions has been designed and developed. This system was composed with the humanoid robot head body, the image capture devices, the facial expression and organ control system. Through the control system of the head, organs of the head and expression control points reach to the designated position, accurately and quickly，achieve a variety of facial expressions and express the inner emotional state of the robot, in order to make the robot to communicate with human flowly and naturally, through the vivid facial expression of the robot. In this paper，firstly, we describe the movement principle of the human facial expressions and head organs from the perspective of human psychology and anatomy, and propose a design method of the robot head and the facial expressions in accordance with Ekmans Facial Action Coding System (FACS). In the expression reproduction part, we draw 9 facial feature control points achieved facial expressions, according to concepts of the expression characteristics and expression feature points offset, and then we get a method which could form six kinds of basic facial expression based on the theory of emotion spatial distribution. In this research, servo motors are selected as main driver, and crank-rocker mechanism is selected as transmission.The robot head body with 13-DOF has been designed, and includes four motion modules which are the eyes, eyebrows, eyelid