摘要
在情感机器人研究中,不同个性的面部表情是情感机器人增强真实感的重要基础。为实现情感机器人更加丰富细腻的表情,将人类的个性特征引入情感机器人,分析个性理论和情感模型理论,得知不同个性机器人的情感强度。结合面部动作编码系统中面部表情与机器人控制点之间的映射关系,得到情感机器人不同个性的基本表情实现方法。利用Solidworks建立情感机器人脸部模型,在ANSYS工程软件中将SHFR-Ⅲ情感机器人脸部模型设置为弹性体,通过有限元仿真计算方法,对表情的有限元仿真方法进行了探究,得到实现SHFR-Ⅲ不同个性基本表情的控制区域载荷大小和仿真结果。最后,根据仿真结果,进行SHFR-Ⅲ情感机器人不同个性的表情动作实验。实验结果表明,有限元表情仿真可以指导SHFR-Ⅲ情感机器人实现近似人类的不同个性的基本面部表情。
In humanoid robot research, the facial expressions of different personalities are an important basis for enhancing the realism of humanoid robots. To achieve more vivid emotional expression by robots, in this paper, we introduce human personality characteristics into robots, based on the personality and emotional model theories, and determine the emotional intensity of robots with different personalities. By mapping the relationship between facial expressions and robot control points in the facial action coding system, we obtained a basic expression implementation method for humanoid robots with different personalities. We used Solidworks software to establish the facial model for the emotional robot and set the model as an elastomer in ANSYS. Using the finite element simulation calculation method, we explored its expression capabilities, and obtained the load sizes of the control regions that realize basic expressions in the humanoid robot SHFR-Ⅲ and simulation results. Based on these simulation results, we conducted expression experiments with the humanoid robot SHFR-Ⅲ for different personalities. Our experimental results show that these simulation results can guide the humanoid robot SHFR-Ⅲ to achieve basic humanlike facial expressions associated with different personalities.
作者
柯显信
云亚文
邱本锐
KE Xianxin YUN Yawen QIU Benrui(School of Mechatronics Engineering and Automation, Shanghai University, Shanghai 200072, Chin)
出处
《智能系统学报》
CSCD
北大核心
2017年第4期468-474,共7页
CAAI Transactions on Intelligent Systems
基金
国家自然科学基金项目(61273325)
关键词
情感机器人
面部表情
情感模型
个性
人脸模型
弹性皮肤
有限元仿真
控制区域
humanoid robot
facial expressions
emotion model
personality
facial model
elastic skin
finite element simulation
control regions
