Anthropomorphic head-eye robot expressing emotions based on equations of emotion

In this study, the authors have been developing anthropomorphic head-eye robots, in order to elucidate the human vision system 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 a human. We developed an anthropomorphic head-eye robot 'WE-3R III' (Waseda Eye No.3 Refined III) having auditory sensation, cutaneous sensation and a new facial expression mechanism with eyes, eyelids, eyebrows, lips, a jaw and a neck. It is said that the human cutaneous sensations include connect, pressure, cold, warmth and pain, so a tactile sensation and a temperature sensation of those were mounted on the robot. For the tactile sensor, we adopted FSR (Force Sensing Resistor). We think that the difference in touching manners such as 'push', 'stroke' and 'hit' have an effect on emotion, therefore we developed the method for recognizing those differences, and installed it in the robot. By improving and rebuilding the artificial psychological model of WE-3RII using a new concept as 'Equation of Emotion' in a 3D mental space, we realized to express the mental state affected by various stimuli with We-3RIII.