Development of the anthropomorphic head-eye robot WE-3RII with an autonomous facial expression mechanism

Atsuo Takanishi, Hideaki Takanobu, Isao Kato, Tomohiko Umetsu

    Research output: Chapter in Book/Report/Conference proceedingChapter

    28 Citations (Scopus)

    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 languageEnglish
    Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
    Pages3255-3260
    Number of pages6
    Volume4
    Publication statusPublished - 1999
    EventProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99 - Detroit, MI, USA
    Duration: 1999 May 101999 May 15

    Other

    OtherProceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99
    CityDetroit, MI, USA
    Period99/5/1099/5/15

    Fingerprint

    Robots
    Eye movements
    Luminance
    Scanning

    ASJC Scopus subject areas

    • Software
    • Control and Systems Engineering

    Cite this

    Takanishi, A., Takanobu, H., Kato, I., & Umetsu, T. (1999). Development of the anthropomorphic head-eye robot WE-3RII with an autonomous facial expression mechanism. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 4, pp. 3255-3260)

    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 proceedingChapter

    Takanishi, A, Takanobu, H, Kato, I & Umetsu, T 1999, Development of the anthropomorphic head-eye robot WE-3RII with an autonomous facial expression mechanism. in Proceedings - IEEE International Conference on Robotics and Automation. vol. 4, pp. 3255-3260, Proceedings of the 1999 IEEE International Conference on Robotics and Automation, ICRA99, Detroit, MI, USA, 99/5/10.
    Takanishi A, Takanobu H, Kato I, Umetsu T. Development of the anthropomorphic head-eye robot WE-3RII with an autonomous facial expression mechanism. In Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4. 1999. p. 3255-3260
    Takanishi, Atsuo ; Takanobu, Hideaki ; Kato, Isao ; Umetsu, Tomohiko. / Development of the anthropomorphic head-eye robot WE-3RII with an autonomous facial expression mechanism. Proceedings - IEEE International Conference on Robotics and Automation. Vol. 4 1999. pp. 3255-3260
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