Mechanical Design and Kinematic Control of a Humanoid Robot Face

  • Yu Qiu
  • Chongming Xu
  • Manjia Su
  • Hongkai Chen
  • Yisheng Guan
  • Haifei ZhuEmail author
Conference paper
Part of the Lecture Notes in Computer Science book series (LNCS, volume 11740)


Faces are very important for human social activities. However, most of the current humanoid robots only have a stiff face. This paper aims at developing a humanoid robot face system can express facial expressions. Bio-inspired by the anatomy of a human head, mechanical structures, including eyebrows, eyes, and mouth, are designed. The mechanisms are actuated by cables or linkages. Moreover, the cables which lay inside the rigid mechanism can pull a soft facial skin for fulfilling micro facial expressions. Kinematics of eyebrows, eyes, and mouth are built up for motion control. Vivid and intuitive experimental instances of these three parts are presented, with quantitative kinematic controlling. The results show the reliability and friendly feeling of this robot face system.


Humanoid robot face Mechanical design Kinematics Control framework 



This research was funded in part by the National Natural Science Foundation of China (Grant Nos. 51605096, 51705086), the Program of Guangdong Yangfan Introducing Innovative and Entrepreneurial Teams (Grant No. 2017YT05G026), and the Program of Foshan Innovation Team of Science and Technology (Grant No. 2015IT100072).


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Copyright information

© Springer Nature Switzerland AG 2019

Authors and Affiliations

  • Yu Qiu
    • 1
  • Chongming Xu
    • 1
  • Manjia Su
    • 1
  • Hongkai Chen
    • 1
  • Yisheng Guan
    • 1
  • Haifei Zhu
    • 1
    Email author
  1. 1.School of Electromechanical EngineeringGuangdong University of TechnologyGuangzhouChina

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