Robot expression imitating method and device based on smoothness constraint reverse mechanical model

Abstract

The invention discloses a robot expression imitating method and device based on a smoothness constraint reverse mechanical model. The method herein includes: A, extracting facial characteristic vectors of a robot; B, constructing a smoothness constraint revere mechanical model from a facial characteristic sequence to a motor control sequence; C, using real-time facial characteristics of a performer as targets, generating an optimal motor control sequence based on the smoothness constraint revere mechanical model so as to drive a robot facial robot so that the robot shows an expression corresponding to the face of the performer. The invention also provides a robot expression imitating device based on the smoothness constraint revere mechanical model. The method and device herein have the advantages that by employing the embodiment of the application, space-time similarity of robot expression imitation and continuous movement smoothness of a motor can be improved, and time of expressionmigration can be shortened.

Description

technical field [0001] The invention relates to a method for imitating robot expression, and more particularly to a method and device for imitating robot expression based on a smooth constrained reverse mechanical model. Background technique [0002] With the development of control science, sensor technology, artificial intelligence, material science, etc., it is possible to have humanoid robots with human appearance and mobility. Although humanoid robots have a relatively high degree of "brain intelligence" (IQ) in imitating human behavior, it is difficult to achieve natural and harmonious emotional interaction capabilities with traditional interaction methods such as keyboards, mice, screens, and patterns, and its level is still far away. It cannot meet people's requirements for the intelligent level of robots. "Human-computer interaction barrier" and emotional interaction ability have gradually become the bottleneck of the practical application of robots. Therefore, how...

AI Technical Summary

Problems solved by technology

[0004] The technical problem to be solved by the present invention is to provide a robot facial expression imitation method and device based on a smooth constrained reverse mechanical model to solve the problems in the prior art that the temporal and spatial similarity and smoothness of facial expression simulation are low and the real-time nature of facial expression migration bad technical problem

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