Robot expression imitation method and device based on smooth constrained inverse mechanical model
A mechanical model and smooth constraint technology, applied in the direction of manipulators, instruments, computer components, etc., can solve the problems of poor real-time transfer of expressions, low temporal and spatial similarity and smoothness of expression imitation, and improve the smoothness of continuous motor motion , improve the spatio-temporal similarity and shorten the time
Active Publication Date: 2021-08-13
ANQING NORMAL UNIV
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[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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[0024] The embodiments of the present invention are described in detail below. This embodiment is implemented on the premise of the technical solution of the present invention, and detailed implementation methods and specific operating procedures are provided, but the protection scope of the present invention is not limited to the following implementation example.
[0025] The embodiment of the present invention provides a method and device for imitating robot expression based on a smooth constrained inverse mechanical model. The method and device for simulating a robot expression based on a smooth constrained inverse mechanical model provided by an embodiment of the present invention will be introduced below.
[0026] figure 1 It is a schematic flow chart of a robot expression imitation method based on a smooth constrained inverse mechanical model provided by an embodiment of the present invention, figure 2 A schematic diagram of the principle of a robot expression imitatio...
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The invention discloses a robot facial expression imitation method based on a smooth constrained reverse mechanical model. The method includes: A: Extracting robot facial feature vectors: B: Constructing a smooth constrained reverse mechanical model based on a facial feature sequence to a motor control sequence: C : Taking the performer's real-time facial features as the target, an optimal motor control sequence is generated based on a smooth constrained inverse mechanical model to drive the robot's facial motors so that the robot presents an expression corresponding to the performer's face. The invention also discloses a robot facial expression imitation device based on a smooth constrained reverse mechanical model. The advantages of the present invention are: applying the embodiment of the present invention can improve the time-space similarity of robot expression imitation and the smoothness of motor continuous movement, and shorten the time for expression transfer.
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...
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IPC IPC(8): B25J11/00G06K9/00
CPCB25J11/0015G06V40/174
Inventor 黄忠刘娟丁蕾江巨浪唐飞
Owner ANQING NORMAL UNIV