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Symbolic and Flat Affect Humanoid Head Design for Modular Humanoid Robots | IEEE Conference Publication | IEEE Xplore

Symbolic and Flat Affect Humanoid Head Design for Modular Humanoid Robots


Abstract:

Humanoid robots have grown in popularity as a result of the rapid pace of technological advancements. Humanoid head plays a significant part in achieving humanlike appear...Show More

Abstract:

Humanoid robots have grown in popularity as a result of the rapid pace of technological advancements. Humanoid head plays a significant part in achieving humanlike appearance in a social robot. At present, the need for modular humanoid head with an efficient eye mechanism is needed in social robot. To achieve this goal, two distinct novel humanoid heads have been developed with each having a novel eye mechanism design, one is Flat Affect Head and other is Symbolic Head. The distinct humanoid head design are aimed to create a varied level of emotional response during their interaction with people. The Symbolic head developed has a preset facial expression whereas Flat Affect Head do not. For visual subsystem facial recognition and emotion recognition, both, have been implemented with confusion matrix for the latter. The novel 3-servo eye mechanism merges eyelids, a camera, and executes movements using only 3 servos, which is currently not possible in other eye mechanism. Both novel eye mechanisms, each having 3 DoF, are compared and the 3-servo eye occupied 71.76% lesser volume as compared to the 6-servo eye, while also reducing the power consumption by 46.80%. Comparison with other existing humanoid heads, the Flat Affect head offers an efficient design using the novel 3-servo eye. The Symbolic head, generates the facial expressions using incomplex mechanism unlike other heads. The modularity of both the developed eye mechanism and head, enables it to be integrated in different humanoid heads and torso respectively, with minor to no modifications.
Date of Conference: 08-11 March 2023
Date Added to IEEE Xplore: 18 April 2023
ISBN Information:
Conference Location: Las Vegas, NV, USA

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