仿生人形機器人頭部設計與表情辨識

A Face Robot Design and Facial Expression Recognition

林佳貞(Chia-Chen Lin)

指導教授 ： 黃漢邦

國立臺灣大學/工學院/機械工程學研究所/碩士(2009年)

https://doi.org/10.6342/NTU.2009.02873

摘要

本論文研究目標為設計一具有類似人臉外型的機器人頭部，且可以呈現不同的臉部表情，並利用視覺功能進行表情辨識。
在表情呈現部分，本研究利用釣魚線與釣魚網模擬人臉線性與非線性肌肉結構，並且設計眼淚機構使機器人頭具有哭的表情並可以掉下眼淚。在表情辨識部分，本研究利用少量的嘴巴與眉毛參數進行表情辨識，研究結果顯示可以利用少量的參數達成高辨識率。最後結合表情呈現與表情辨識，設計一些狀況讓人與機器人間產生互動。

關鍵字

機器人 ； 表情 ； 表情辨識

並列摘要

Our research goal was to develop a face robot that has a human appearance and can display facial expressions. We also constructed facial expression recognition with vision in order to create human－robot interaction.
To display facial expressions, we used fishing line and fishing net to produce a muscular structure similar to the linear and nonlinear muscles of the human face. We also designed a mechanism for producing tears and made the face robot cry like a human being. For facial expression recognition, we used a few mouth and eyebrow descriptors by which to identify facial expressions. The results proved that a few descriptors could be used to achieve a high recognition ability. Finally, we combined facial expression display with facial expression recognition, and designed some conditions for human－robot interactions. We thus produced a closer and more natural relationship between humans and robots.

並列關鍵字

face robot ； robot head ； facial expression recognition ； AAM ； SVM

參考文獻

[3] M. Beszedes and P. Culverhouse, “Comparison of Human and Automatic Facial Emotions and Emotion Intensity Levels Recognition,” Proceedings of the 5th International Symposium on Image and Signal Processing and Analysis, Istanbul, pp. 429-434, September 2007.

[6] C. Y. Cheng, “Design of Robot Head with Facial Expression,” Master Thesis, Department of Mechanical Engineering, National Taiwan University of Science and Technology, 2007.

[9] H. C. Choi and S. Y. Oh, “Realtime Facial Expression Recognition using Active Appearance Model and Multilayer Perceptron,” SICE-ICASE International Joint Conference 2006, Bexco, Busan, Korea, pp. 5924-5927, October 2006.

[10] T. F. Cootes, G. J. Edwards, and C. J. Taylor, “Active Appearance Model,” IEEE Transactions on Pattern Analysis and Machine Intelligence, Vol. 23, No. 6, pp. 681-685, June 2001.

[15] T. Hashimoto, S. Hiramatsu, and H. Kobayashi, “Dynamic Display of Facial Expressions on the Face Robot Made by Using a Life Mask,” 2008 8th IEEE-RAS International Conference on Humanoid Robots, Daejeon, Korea, pp. 521-526, December 2008.