Design and Development of a Robot Head with Facial Emotion Expression

具臉部表情功能機器人頭之研製

任復華(Fu-Hua Jen) ； 戴任詔(Jen-Chao Tai) ； 梁達鴻(Da-Hung Liang) ； 何玟璟(Wun-Jing He)

《技術學刊》 26卷1期 (2011/03) Pp. 27-38

https://doi.org/10.29507/JT.201103.0003

摘要

近年來服務型機器人已漸漸走進人群、社會與家庭中，人與機器人之互動成爲重要的研究議題之一，本研究將發展具有與人類一樣可表現臉部表情的機器人頭，所發展之機器人頭，可表達快樂、悲傷、生氣、厭惡、恐懼、驚訝6種基本表情與3種自訂之表情，機器人頭部主要由臉部控制機構、臉皮支撐架、臉皮與控制系統四個部分所組成，機器人頭臉部控制機構共有16個自由度，爲提升維修效率，採模組化設計，各模組可獨立安裝測試，包含眉毛模組、眼睛模組、嘴部模組及頸部模組，各模組均利用伺服機來控制臉部動作，感測器部分，可透過觸動開關與語音功能與人達成互動，眼珠內可安裝CMOS影像感測器，以獲取影像資訊。機器人臉皮部分，採用矽膠材料以公母模壓鑄成型，並經由兩個實驗得到材料受力與應變的線性關係，有助於臉皮之設計與伺服機之選用，發展新的控制點以控制臉皮，臉皮安裝於臉皮支撐架，臉皮支撐架係利用逆向工程及快速原型技術開發。控制系統部份，使用Qwerk Robot Controller控制伺服機，利用JAVA語法撰寫程式，達到控制機器人臉部表情之目的。進而增進與人類互動上的真實性與趣味性。

關鍵字

機器人頭部 ； 臉皮 ； 控制點 ； 快速原型技術

並列摘要

Human-machine interaction has become an important issue for robot applications. In this paper, we design a robot head which can show nine facial expressions: surprise, fear, sadness, disgust, happiness, anger, and three cute facial expressions. The robot head consists of a face control mechanism, a face skin supporter, face skin and a control system. Modulization was adopted to design the mechanism to speed development and allow for fast maintenance. An eyebrow module, an eye module, a mouth module and a neck module were developed for generating facial expressions. Each module can be easily disassembled and tested independently. Sixteen RC-servos are used to control all mechanisms. Reverse engineering and rapid prototyping were employed to design and develop the robot face skin supporter. The face skin is made of Silicone Gel-10 and shaped by mold. Two experiments have been made using Silicone Gel-10 and a linear relationship between strain and force has been obtained. The result helped in designing the face skin and selecting RC-servos for better performance. Specially-designed control points were developed to control the face skin. RC-servos activate the control points through plastic wires for facial expressions. The Qwerk Robot controller is used to control RC-servos for human-machine interaction by JAVA script.

並列關鍵字

robot head ； face skin ； control point ； rapid prototyping