仿人表情机器人情感表达技术研究综述  

Research on emotion expression technology for humanoid expression robots

作　　者：何苗 毕健 王玉金 殷勤 HE Miao;BI Jian;WANG Yujin;YIN Qin(College of Mechanical Engineering,Chongqing University of Technology,Chongqing 400054,China)

机构地区：[1]重庆理工大学机械工程学院,重庆400054

出　　处：《重庆理工大学学报（自然科学）》2022年第11期183-192,共10页Journal of Chongqing University of Technology：Natural Science

基　　金：重庆市教育委员会在渝高校与中国科学院所属院所合作项目(HZ2021011);重庆市教委科学技术研究计划青年项目(KJQN202101131);重庆理工大学研究生创新项目(clgycx20201010);重庆理工大学科研启动基金项目(2019ZD103)。

摘　　要：聚焦仿人表情机器人的情感表达技术,帮助理解该技术在仿人表情机器人领域的研究现状和趋势。首先,对国内外具有代表性的仿人表情机器人的功能与技术特点进行梳理,并按情感表达能力将它们划分为3个层次;其次,从结构到控制对其情感表达技术进行全面分析,并就重点技术进行总结概括,指出不同方法的优缺点,归纳发展规律;最后,对该领域未来技术与应用研究的发展趋势进行分析与展望。A humanoid expression robot can simulate facial expressions through mechanical structures and communicate with people emotionally.Its vivid humanoid appearance and natural expressions are the basis of human-robot emotional interactions.At present,humanoid expression robots have been widely used in the fields of emotional escort,welcome reception and autism treatment.This paper focuses on the emotion expression technology of humanoid expression robots and aims to help readers understand the research status and trends of this technology.Firstly,this paper combs the functions and technical characteristics of the representative humanoid expression robots at home and abroad,and divides them into three levels according to their emotional expression ability.Secondly,this paper comprehensively analyzes the emotional expression technology from the structure to control,figures out the key technologies,points out the advantages and disadvantages of different methods,and summarizes the development law.Finally,the development trend of the future technology and its application in this field are analyzed and prospected.

关 键 词：仿人表情机器人 机器人表情 结构设计 机器人皮肤 情感模型 情感表达 

分 类 号：TP242.6[自动化与计算机技术—检测技术与自动化装置]