CASPIAN JOURNAL
MANAGEMENT AND HIGH TECHNOLOGIES
Control of mimic apparatus of service robots for emotion synthesis
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Read | Konyshev Dmitry V., Vorotnikov Sergey A., Vybornov Nikolai A. Control of mimic apparatus of service robots for emotion synthesis // Caspian journal : management and high technologies. — 2014. — №3. — pp. 216-229. |
Konyshev Dmitry V. - postgraduate student, Bauman Moscow State Technical University, 5 2nd Baumanskaya St., Moscow, 105007, Russian Federation, mpu-401@mail.ru; konyshev-dmitri@yandex.ru
Vorotnikov Sergey A. - Ph.D. (Engineering), Bauman Moscow State Technical University, 5 2nd Baumanskaya St., Moscow, 105007, Russian Federation, vorotn@bmstu.ru
Vybornov Nikolai A. - Ph.D. (Physics and Mathematics), Astrakhan State University, 20 a Tatishchev St., Astrakhan, 414056, Russian Federation, do_vybornov@aspu.ru
This paper shows principles and trends in development of humanoid service robots, conducts comparison of their mimic control systems. A new synthesized control method for anthropomorphic service robots with silicon skin is proposed. This method is obtained to be more demonstrative and naturally comfortable for a human-operator. The main principle is proportional interpolation of control signals of mimic muscles relative to reference basic emotional states by P. Ekman. Proposed method was implemented into control system software of existing service robot and tested in real-life conditions. The layout of anthropomorphic service robot mimic machine was designed and held its experimental research, as well as the presentation at the exhibition "International Robot Ball" in Moscow.
Key words: сервисный робот, антропоморфное лицо робота, мимический аппарат, эмоциональное состояние, мимика, управление, service robot, human-like robotics face, mimic apparatus, emotional state, mimic, control system