A humanoid avatar robot with variable face shape and facial organs, its mathematical modeling method and control method

Abstract

The invention provides a human head imitation portrait robot capable of changing the facial form and face organs as well as a mathematical modeling method and a control method thereof, solving the problem that an existing human head imitation portrait robot has a fixed facial form and face organs and cannot show different face shapes. The human head imitation portrait robot comprises a facial form changing mechanism, a face organ changing mechanism and elastic face skin. The mathematical modeling method of the human head imitation portrait robot capable of changing the facial form and face organs comprises the following steps: 1, a mathematical modeling method of a human head imitation portrait robot capable of changing the facial form; and 2, a face organ position mathematical modeling method. By selecting facial form and face organ feature points, different facial forms and face organ positions are represented according to different model parameters; the facial form changing mechanism and the face organ changing mechanism drive elastic face skin driving points to generate displacement so as to change the outline shape of the face skin and the positions of the face organs. The invention belongs to the application field of robots.

Description

A humanoid avatar robot with variable face shape and facial organs, its mathematical modeling method and control method technical field The invention relates to a humanoid avatar robot, in particular to a humanoid avatar robot with variable face shape and facial organs, a mathematical modeling method and a control method thereof, belonging to the field of robot applications. Background technique With the advancement of science and technology, the research on robots is developing in the direction of individuation, intelligence, and emotion. Robots participate in human life, study, and coexist harmoniously with humans. Humanoid head robots have faces similar to humans. Form and function can facilitate the exchange of emotions and information between robots and humans. But a robot with a fixed image of a humanoid head can't show a variety of human faces. After literature search, it is found that the Chinese invention patent announcement number is CN 101618280A, and the name...

AI Technical Summary

Problems solved by technology

The present invention aims to solve the problem that the face shape and facial organs of the existing humanoid head robot are fixed so that different facial shapes cannot be realized, and provides a humanoid head robot with variable face shape and facial organs and its mathematical modeling method and control method

Images