仿人面部表情机器人刚柔混合仿真方法研究  

Research on rigid-flexible simulation method of humanoid facial expression robot

作　　者：柯显信[1] 张文朕 罗志通 温雷 KE Xianxin;ZHANG Wenzhen;LUO Zhitong;WEN Lei(School of Mechatronic Engineering and Automation,Shanghai University,Shanghai 200072,China)

机构地区：[1]上海大学机电工程与自动化学院,上海200072

出　　处：《现代电子技术》2018年第24期52-56,共5页Modern Electronics Technique

基　　金：国家自然科学基金(61273325)~~

摘　　要：为了使仿人机器人可以产生与人类相似的面部表情,建立了刚柔混合模型下的仿人面部表情机器人虚拟样机。首先依据面部编码系统理论,对人类面部表情产生的机理进行分析,重新确立了仿人面部表情机器人实现基本表情所需的面部表情控制点。通过创建面部柔性体与表情机器人刚性结构相结合,建立了刚柔混合模型下的仿人面部表情机器人虚拟样机。通过运动学仿真,得出刚柔混合模型下的机器人的6种基本表情,验证了基于刚柔混合模型来实现机器人面部表情的可行性,为未来进一步改进优化仿人机器人提供了参考依据。A virtual prototype of the humanoid facial expression robot is built based on the rigid-flexible model to make the humanoid robot produce facial expressions similar to human beings.The production mechanism of human facial expressions is analyzed according to the facial coding system theory.The facial expression control points needed for basic expressions realized by the humanoid facial expression robot are redefined.The virtual prototype of the humanoid facial expression robot is built based on the rigid-flexible model by combining the created facial flexible body with the rigid structure of the expression robot.Six basic expressions of the robot based on the rigid-flexible model are obtained by means of the kinematic simulation.The feasi-bility of realizing facial expressions of the robot based on the rigid-flexible model is verified,which can provide a reference for further improvement and optimization of the humanoid robot in the future.

关 键 词：仿人机器人 FACS理论 虚拟样机 面部柔性体 刚柔混合模型 表情仿真 

分 类 号：TN812-34[电子电信—信息与通信工程] TP242[自动化与计算机技术—检测技术与自动化装置]