Research On Facial Structure Design, Expression Recognition And Human-Computer Interaction Of Service Robot

Currently, service robots have been playing an increasingly important rolein human-computer interaction, and gradually develop towards being intelligent,humanized, emotional and rich of expressions. T-he research of service robots isincreasingly being used.The thesis designs the facial structure of a service robot, which usesSimulating Rudder as the drive and uses linkages as the basic transmissionmechanism. The facial structure mainly contains modules for horizontal andvertical eye rotational movement, the eyelid module, the eyebrows module andjaw module. For a reasonable and efficient use of the head space, according tothe size of the various facial parts, a head structure with the size of2/3of aaverage human head is designed and manufacture. Using the Pro/e software, acomputer model for this design is constructed. The running simulation of thehead structure is executed in ADAMS, and four basic expressions of the modelare validated.The photographed real human expression images are used in the facialexpression recognition based on the difference Active Appearance Model (AAM)and Support Vector Machines (SVM) on the MATLAB platform. The researchextracts the facial expression features from the images through the differentialAAM, and based on these obtained features, study on the classification andidentification of facial expression is carried out by using the SVM. Theexperiment results show that the expressions recognition accuracy has beenimproved.The human-computer interaction system is designed based on Atmega16andPC system. It includes the bottom layer module of Atmega16control system, thePC system, human-computer interface and related hardware system. The processof human-computer interaction system is as follows:(1) The camera is connectedwith the PC system, and human-computer interface on the VC platform willdisplay the acquired images from camera real-timely;(2) PC system treats theimages to recognize expression, and shows the recognition result of facialexpression;(3) It makes corresponding judgment, and then sends interactive expression instructions to the bottom Atmega16control system;(4)TheAtmega16control system sends commands to the different drives，and the facialrobot presents the corresponding expression. Ultimately the system achieves thepurpose of human-computer interaction.