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
柯显信,张文朕,罗志通,温雷
摘要(Abstract)：
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。
关键词(KeyWords)： 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
基金项目(Foundation): 国家自然科学基金(61273325)~~
作者(Author): 柯显信,张文朕,罗志通,温雷
DOI: 10.16652/j.issn.1004-373x.2018.24.013
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