基于情绪控制的仿人机器人表情研究

Research on humanoid robot expressions based on mood control

为了在人机交互中使仿人机器人表情更加接近人类,基于仿人机器人嵌入式系统结构平台,利用嵌入式芯片控制舵机的方法,对多自由度仿人机器人面部表情进行了设计和实现.首先,通过嵌入的系统芯片对舵机进行控制,利用其转动角度和脉冲宽度之间的关系,达到舵机对相应面部自由度的控制;然后,系统采用分时复用和串并结合的方法,产生PWM波控制信号,使得在表情发生时各舵机达到同步进行的效果;最后,通过有限状态机构造情绪抑制模型,让机器人拥有一定的情绪抑制能力.经过大量的试验和仿真,验证了本系统具有较高的可行性.

In order to make the humanoid robot in the human-computer interaction more close to human expression,based on embedded system structure of humanoid robot platform,with the embedded chip control steering gear exploited,the design and implementation of multi-freedom humanoid robot facial expressions were achieved.First of all,the steering gear was controlled through the embedded system chip and corresponding facial degrees of freedom was also controlled using the relationship between the rotation angle and the pulse width.Then the method of TDMA and series parallel combination was adopted to create the PWM wave for controlling the signals and achieving each steering gear effects simultaneously when expressions occurred.Finally,the suppression model was built via finite state institutions,which let robots have the ability of certain suppression.After a mountain of experiments and simulation,it can be verified that the system has high feasibility.