D.V. Konyshev
Bauman Moscow State Technical University (BMSTU), Postgraduate Student, 5-1, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(499)263-63-91, This email address is being protected from spambots. You need JavaScript enabled to view it.
A.S. Yuschenko
Doctor of Technical Sciences, BMSTU, Professor, 5-1, 2-ya Baumanskaya ul., Moscow, 105005, Russia, tel.: +7(499)263-63-91, This email address is being protected from spambots. You need JavaScript enabled to view it.
Abstract
This paper presents tendencies and main principles of design for service robots with mimic actuators; comparison of current methods for such devices' control is carried out. Innovative approach to mimic apparatus control for robots with anthropomorphic silicone face is synthesized. Offered method is developed, in the first place, to provide ultimate vizualization and to improve robot's handliness on the part of the human operator. Method is based on control signals' proportional interpolation for mimic apparatus actuators in relation to overarching basic emotional states of human face py P. Ekman. The method, suggested by authors, was implemented in control software for existing robot and was tested in actual practice. The model of anthropomorphic service robot with mimic apparatus was designed and experimental study was conducted.
Key words
Service robot, anthropomorphic robot face, mimic apparatus, emotional state, facial expression, control.
Year 2015 Issue number 3 Consecutive issue number 8 Pages 64-71
UDC identifier: 004.896:007.52
