Humanoid robot heads for human-robot interaction:A review  

作　　者：LI Yi ZHU LiXiang ZHANG ZiQian GUO MingFei LI ZhiXin LI YanBiao HASHIMOTO Minoru 

机构地区：[1]Key Laboratory of Special Purpose Equipment and Advanced Processing Technology of Ministry of Education,Zhejiang University of Technology,Hangzhou 310023,China [2]Zhejiang Provincial Key Laboratoryof Special Purpose Equipment and Advanced Processing Technology Zhejang Universityof Technology Hangzhou 310023,China [3]Faculy of Textile Science and Technology,Shinshu University,Ueda 386-8567,Japan

出　　处：《Science China(Technological Sciences)》2024年第2期357-379,共23页中国科学（技术科学英文版）

基　　金：supported by Zhejiang Provincial Natural Science Foundation of China(Grant Nos.LY22E050019 and LGG21E050015);Ningbo Public Welfare Research Program Foundation of China(Grant No.2023S066);the National Natural Science Foundation of China(Grant No.U21A20122);the JSPS Grant-in-Aid for Scientific Research(C)(Grant No.JP22K04010)。

摘　　要：The humanoid robot head plays an important role in the emotional expression of human-robot interaction(HRI).They are emerging in industrial manufacturing,business reception,entertainment,teaching assistance,and tour guides.In recent years,significant progress has been made in the field of humanoid robots.Nevertheless,there is still a lack of humanoid robots that can interact with humans naturally and comfortably.This review comprises a comprehensive survey of state-of-the-art technologies for humanoid robot heads over the last three decades,which covers the aspects of mechanical structures,actuators and sensors,anthropomorphic behavior control,emotional expression,and human-robot interaction.Finally,the current challenges and possible future directions are discussed.

关 键 词：humanoid robot head anthropomorphic behaviors emotional expression human-robot interaction 

分 类 号：TB18[一般工业技术] TP242[自动化与计算机技术—检测技术与自动化装置]