Abstract
In this study, the author and his co-workers have been developing anthropomorphic robot heads, in order to elucidate the human mechanism from an engineering point of view, and to develop a new head mechanism and function for a humanoid robot having the ability to communicate naturally with humans. We developed the anthropomorphic robot head “WE-3RII”(Waseda Eye No.3 Refined II), with eyes, eyelids, eyebrows, lips, ears, a jaw and a neck in 1998. The robot has the ability to express an autonomous facial expression using three independent parameters of a psychological model. With the robot, the mechanism of changing eye movement from smooth pursuit eye movement to saccadic, and the control of scanning eye movement like that of a human’s can be achieved. The robot is also able to express more human-like motion in pursuing a target by changing its eyeball control parameters than that of WE-3R developed in 1997. Therefore, we have confirmed that WE-3RII has the ability to realize a pursuing motion in three dimensional space with its autonomous facial expression adapting to the target position and brightness like a human.
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© 2000 Springer-Verlag London
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Takanishi, A. (2000). An Anthropomorphic Robot Head having Autonomous Facial Expression Function for Natural Communication with Humans. In: Hollerbach, J.M., Koditschek, D.E. (eds) Robotics Research. Springer, London. https://doi.org/10.1007/978-1-4471-0765-1_36
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DOI: https://doi.org/10.1007/978-1-4471-0765-1_36
Publisher Name: Springer, London
Print ISBN: 978-1-4471-1254-9
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