Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color

Tatsuhiro Kishi; Takuya Otani; Nobutsuna Endo; Przemyslaw Kryczka; Kenji Hashimoto; Kei Nakata; Atsuo Takanishi

doi:10.1007/978-3-7091-1379-0_19

Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color

Tatsuhiro Kishi, Takuya Otani, Nobutsuna Endo, Przemyslaw Kryczka, Kenji Hashimoto, Kei Nakata, Atsuo Takanishi

Research output: Chapter in Book/Report/Conference proceeding › Chapter

3 Citations (Scopus)

Abstract

This paper describes the development of a new expressive robotic head for bipedal humanoid robot. Through a preliminary experiment, the authors defined the representative facial expressions for 6 basic emotions. To realize these facial expressions, 24-DoFs of mechanisms that allow wide moveable range, and facial color were needed on the face. We designed compact mechanisms that fit into the head of which major dimensions are based on average of adult Japanese female’s size. We conducted a questionnaire surveys to evaluate the facial expression recognition rates. The results show that facial expression recognition rates for 6 basic emotions were increased compared to the old head.

Original language	English
Title of host publication	CISM International Centre for Mechanical Sciences, Courses and Lectures
Publisher	Springer International Publishing
Pages	151-158
Number of pages	8
DOIs	https://doi.org/10.1007/978-3-7091-1379-0_19
Publication status	Published - 2013

Publication series

Name	CISM International Centre for Mechanical Sciences, Courses and Lectures
Volume	544
ISSN (Print)	0254-1971
ISSN (Electronic)	2309-3706

Keywords

Basic Emotion
Compact Mechanism
Facial Expression
Humanoid Robot
Recognition Rate

ASJC Scopus subject areas

Modelling and Simulation
Mechanics of Materials
Mechanical Engineering
Computer Science Applications

Access to Document

10.1007/978-3-7091-1379-0_19

Cite this

Kishi, T., Otani, T., Endo, N., Kryczka, P., Hashimoto, K., Nakata, K., & Takanishi, A. (2013). Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color. In CISM International Centre for Mechanical Sciences, Courses and Lectures (pp. 151-158). (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544). Springer International Publishing. https://doi.org/10.1007/978-3-7091-1379-0_19

Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color. / Kishi, Tatsuhiro; Otani, Takuya; Endo, Nobutsuna et al.
CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2013. p. 151-158 (CISM International Centre for Mechanical Sciences, Courses and Lectures; Vol. 544).

Research output: Chapter in Book/Report/Conference proceeding › Chapter

Kishi, T, Otani, T, Endo, N, Kryczka, P, Hashimoto, K, Nakata, K & Takanishi, A 2013, Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color. in CISM International Centre for Mechanical Sciences, Courses and Lectures. CISM International Centre for Mechanical Sciences, Courses and Lectures, vol. 544, Springer International Publishing, pp. 151-158. https://doi.org/10.1007/978-3-7091-1379-0_19

Kishi T, Otani T, Endo N, Kryczka P, Hashimoto K, Nakata K et al. Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color. In CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing. 2013. p. 151-158. (CISM International Centre for Mechanical Sciences, Courses and Lectures). doi: 10.1007/978-3-7091-1379-0_19

Kishi, Tatsuhiro ; Otani, Takuya ; Endo, Nobutsuna et al. / Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color. CISM International Centre for Mechanical Sciences, Courses and Lectures. Springer International Publishing, 2013. pp. 151-158 (CISM International Centre for Mechanical Sciences, Courses and Lectures).

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abstract = "This paper describes the development of a new expressive robotic head for bipedal humanoid robot. Through a preliminary experiment, the authors defined the representative facial expressions for 6 basic emotions. To realize these facial expressions, 24-DoFs of mechanisms that allow wide moveable range, and facial color were needed on the face. We designed compact mechanisms that fit into the head of which major dimensions are based on average of adult Japanese female{\textquoteright}s size. We conducted a questionnaire surveys to evaluate the facial expression recognition rates. The results show that facial expression recognition rates for 6 basic emotions were increased compared to the old head.",

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note = "Funding Information: ∗This study was conducted as part of the ffiesearch Institute for Science and Engineering, Waseda University, and as part of the humanoid project at the Humanoid ffiobotics Institute, Waseda University. It was also supported in part by ffioboSoM project from the European FP7 program (Grant agreement No.: 248366), Global COE Program “Global ffiobot Academia” from the Ministry of Education, Culture, Sports, Science and Technology of Japan, SolidWorks Japan K.K., NiKKi Fron Co., Chukoh Chemical Industries, DYDEN Corporation and STMicroelectronics, whom we thank for their financial and technical support. Publisher Copyright: {\textcopyright} 2013, CISM, Udine.",

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N1 - Funding Information: ∗This study was conducted as part of the ffiesearch Institute for Science and Engineering, Waseda University, and as part of the humanoid project at the Humanoid ffiobotics Institute, Waseda University. It was also supported in part by ffioboSoM project from the European FP7 program (Grant agreement No.: 248366), Global COE Program “Global ffiobot Academia” from the Ministry of Education, Culture, Sports, Science and Technology of Japan, SolidWorks Japan K.K., NiKKi Fron Co., Chukoh Chemical Industries, DYDEN Corporation and STMicroelectronics, whom we thank for their financial and technical support. Publisher Copyright: © 2013, CISM, Udine.

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Development of Expressive Robotic Head for Bipedal Humanoid Robot with Wide Moveable Range of Facial Parts, Facial Color

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