Robotic Facial Expression Using a Curved Surface Display

Minoru Hashimoto; Daisuke Morooka

doi:10.20965/jrm.2006.p0504

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JRM Vol.18 No.4 pp. 504-510

doi: 10.20965/jrm.2006.p0504

(2006)

Paper:

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Robotic Facial Expression Using a Curved Surface Display

Minoru Hashimoto^* and Daisuke Morooka^**

^*Interdisciplinary Graduate School of Science and Technology, Shinshu University, 3-15-1 Tokida, Ueda, Nagano 386-8567, Japan

^**Design Center, Nissan Motor Co., Ltd., 560-2 Okatsukoku, Atsugi, Kanagawa 243-0192, Japan

Received:

October 3, 2005

Accepted:

June 28, 2006

Published:

August 20, 2006

Keywords:

facial expression, face robot, domed display, fish-eye lens

Abstract

We propose robotic facial expression using a curved surface display. An image of the robot’s face is displayed on a curved screen to form a facial expression easily compared to other mechanical facial expression. The curved surface gives the face a three-dimensional effect due to not possible using a plane image. The curved surface display consists of a domed screen, a fish-eye lens, and a projector. The face robot has a neck to move the head. We detail the domed display, compensation for image distortion, and the drawing of shadow images indicating the direction of a light source. The facial expression is animated and the head moves using the neck conducted. Experiments confirmed the effectiveness of our proposal.

Cite this article as:

M. Hashimoto and D. Morooka, “Robotic Facial Expression Using a Curved Surface Display,” J. Robot. Mechatron., Vol.18, No.4, pp. 504-510, 2006.

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References

[1] C. L. Breazeal, “Designing Sociable Robots,” The MIT Press, 2002.
[2] H. Miwa et al., “Effective Emotional Expressions with Emotion Expression Humanoid Robot WE-4RII,” Proc. of the 2004 IEEE/RSJ Intl. Conference on Intelligent Robot and Systems, pp. 2203-2208, 2004.
[3] http://www.magicball.de/main/en/versions.htm
[4] K. Akiyama et al., “Teleoperation of Human-Friendly Robot (18^th report),” Proc. of Robomec’04, 2A1-H-60, 2004 (in Japanese).
[5] http://www.arcscience.com/omni.htm
[6] P. Ekman, and W. V. Friesen, “Facial Action Coding Consulting,” Psychologist Press, 1977.

This article is published under a Creative Commons Attribution-NoDerivatives 4.0 Internationa License.

[1] [1] C. L. Breazeal, “Designing Sociable Robots,” The MIT Press, 2002.

[2] [2] H. Miwa et al., “Effective Emotional Expressions with Emotion Expression Humanoid Robot WE-4RII,” Proc. of the 2004 IEEE/RSJ Intl. Conference on Intelligent Robot and Systems, pp. 2203-2208, 2004.

[3] [3] http://www.magicball.de/main/en/versions.htm

[4] [4] K. Akiyama et al., “Teleoperation of Human-Friendly Robot (18^th report),” Proc. of Robomec’04, 2A1-H-60, 2004 (in Japanese).

[5] [5] http://www.arcscience.com/omni.htm

[6] [6] P. Ekman, and W. V. Friesen, “Facial Action Coding Consulting,” Psychologist Press, 1977.

Robotic Facial Expression Using a Curved Surface Display

Minoru Hashimoto* and Daisuke Morooka**

Minoru Hashimoto^* and Daisuke Morooka^**