Robot expression driving method and device
A driving method and robot technology, which is applied in the field of simulated robots, can solve the problems of difficult reuse of simulated robot expression drives and single simulated robot expressions, and achieve the effects of improved viewing, perfect presentation effect, and low cost
Pending Publication Date: 2021-11-30
BEIJING INSTITUTE OF TECHNOLOGYGY
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Problems solved by technology
[0004] In order to solve the above-mentioned technical problems, the present invention proposes a method and device for driving facial expressions of a robot. The method and device are used to solve the technical problems in the prior art that the facial expressions of simulated robots are single and the driving of simulated robot facial expressions is difficult to reuse
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[0029] combine first Figure 1-Figure 2 , Figure 6 Illustrate the flow of a method for driving the expression of a simulated robot according to an embodiment of the present invention, the method includes the following steps:
[0030] Step S1: Construct the facial static expression model of the robot, obtain the facial landmark information of the robot; obtain multiple facial expressions of the first real person, bind the multiple facial expressions of the first real person on the static facial expression model of the robot, and obtain A virtual human model based on the static facial expression model of the robot, the virtual human being corresponding to the robot;
[0031] Step S2: Obtain the expression of the second real person, drive the virtual human model by the current expression of the second real person, and extract the position information and number of the marker points under the current expression of the virtual human model;
[0032] Step S3: Input the extracted p...
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The invention provides a simulation robot expression driving method and device, and the method comprises the steps: constructing a robot face static expression model, and obtaining the information of a robot face mark point; binding a plurality of facial expressions of the first real person on the robot face static expression model to obtain a virtual human model based on the robot face static expression model; obtaining the expression of a second real person, driving the virtual human model by the current expression of the second real person, and extracting the position information and the number of the mark point of the virtual human model under the current expression; inputting the extracted position information and serial numbers of the mark points of the virtual human model under the current expression into a trained network model, and driving the robot to make the same facial expression as the second real person based on the output motor parameters. A real person drives a virtual person to make high-precision expressions, and then the robot is driven to make corresponding expression actions through facial high-precision data. The vivid and perfect expression presentation effect of the robot is achieved.
Description
technical field [0001] The invention relates to the field of simulation robots, in particular to a method and device for driving robot expressions. Background technique [0002] With the gradual aging and digitalization of human society, simulation robots are used in related service fields such as finance, medical care, education, housekeeping, psychological companionship, etc., and have the role and value of replacing people in typical application scenarios. Interactivity, emotional resonance and trust constructs have great value and significance. However, the existing simulated robots have fewer driving expressions, and most of them cannot achieve realistic effects. They are far less rich and delicate than human facial expressions, and it is difficult to cross the "uncanny valley" theory. At the same time, virtual digital humans and highly simulated robot faces There is no link between the drivers. [0003] For example, the prior art CN109648574A, a face control method o...
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IPC IPC(8): G06T17/00B25J11/00B25J19/00
CPCG06T17/00B25J11/001B25J19/00
Inventor 包仪华翁冬冬王涌天刘越于秦伯
Owner BEIJING INSTITUTE OF TECHNOLOGYGY