Abstract
In this study, the authors have been developing anthropomorphic head-eye robots, in order to elucidate the human vision system from an engineering point of view, and to develop a new head mechanism and function for a humanoid robot having the ability to communicate naturally with a human. We developed the anthropomorphic head-eye robot 'WE-3RII' (Waseda Eye No. 3 Refined II), with eyes, eyelids, eyebrows, lips, jaw and a neck. The robot has the ability to express an autonomous facial expression using three independent parameters of a psychological model. With the robot, the mechanism of changing eye movement from smooth pursuit eye movement to saccadic, and the control of scanning eye movement like that of a human's can be achieved. The robot is also able to express more human-like motion in pursuing a target by changing its eyeball control parameters, rather than that of WE-3R which we developed in 1996. Therefore, the authors have confirmed that WE-3RII has the ability to realize a pursuing motion in three dimensional space with its autonomous facial expression adapting to the target position and brightness like a human.
| Original language | English |
|---|---|
| Title of host publication | Proceedings - IEEE International Conference on Robotics and Automation |
| Pages | 3255-3260 |
| Number of pages | 6 |
| Volume | 4 |
| Publication status | Published - 1999 |
| Event | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA Duration: 1999 May 10 → 1999 May 15 |
Other
| Other | Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 |
|---|---|
| City | Detroit, MI, USA |
| Period | 99/5/10 → 99/5/15 |
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ASJC Scopus subject areas
- Software
- Control and Systems Engineering
Cite this
Development of the anthropomorphic head-eye robot WE-3RII with an autonomous facial expression mechanism. / Takanishi, Atsuo; Takanobu, Hideaki; Kato, Isao; Umetsu, Tomohiko.
Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 1999. p. 3255-3260.Research output: Chapter in Book/Report/Conference proceeding › Chapter
}
TY - CHAP
T1 - Development of the anthropomorphic head-eye robot WE-3RII with an autonomous facial expression mechanism
AU - Takanishi, Atsuo
AU - Takanobu, Hideaki
AU - Kato, Isao
AU - Umetsu, Tomohiko
PY - 1999
Y1 - 1999
N2 - In this study, the authors have been developing anthropomorphic head-eye robots, in order to elucidate the human vision system from an engineering point of view, and to develop a new head mechanism and function for a humanoid robot having the ability to communicate naturally with a human. We developed the anthropomorphic head-eye robot 'WE-3RII' (Waseda Eye No. 3 Refined II), with eyes, eyelids, eyebrows, lips, jaw and a neck. The robot has the ability to express an autonomous facial expression using three independent parameters of a psychological model. With the robot, the mechanism of changing eye movement from smooth pursuit eye movement to saccadic, and the control of scanning eye movement like that of a human's can be achieved. The robot is also able to express more human-like motion in pursuing a target by changing its eyeball control parameters, rather than that of WE-3R which we developed in 1996. Therefore, the authors have confirmed that WE-3RII has the ability to realize a pursuing motion in three dimensional space with its autonomous facial expression adapting to the target position and brightness like a human.
AB - In this study, the authors have been developing anthropomorphic head-eye robots, in order to elucidate the human vision system from an engineering point of view, and to develop a new head mechanism and function for a humanoid robot having the ability to communicate naturally with a human. We developed the anthropomorphic head-eye robot 'WE-3RII' (Waseda Eye No. 3 Refined II), with eyes, eyelids, eyebrows, lips, jaw and a neck. The robot has the ability to express an autonomous facial expression using three independent parameters of a psychological model. With the robot, the mechanism of changing eye movement from smooth pursuit eye movement to saccadic, and the control of scanning eye movement like that of a human's can be achieved. The robot is also able to express more human-like motion in pursuing a target by changing its eyeball control parameters, rather than that of WE-3R which we developed in 1996. Therefore, the authors have confirmed that WE-3RII has the ability to realize a pursuing motion in three dimensional space with its autonomous facial expression adapting to the target position and brightness like a human.
UR - http://www.scopus.com/inward/record.url?scp=0032640447&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0032640447&partnerID=8YFLogxK
M3 - Chapter
AN - SCOPUS:0032640447
VL - 4
SP - 3255
EP - 3260
BT - Proceedings - IEEE International Conference on Robotics and Automation
ER -