Facial expression switching method, face skin structure and bionic robot

Abstract

The application relates to the technical field of bionic robots, and particularly discloses an expression switching method, a face skin structure and a bionic robot. The expression switching method comprises the following steps: receiving an expression switching instruction, obtaining the displacement A1 of all inserts 20 of a current expression and the displacement A2 of all inserts 20 of a target expression, judging whether the current expression can be directly switched to the target expression based on the displacements A1 and A2, obtaining a transition expression sequence from the current expression to the target expression based on the displacements A1 and A2 if the current expression cannot be directly switched to the target expression, wherein the transition expression sequence comprises at least one intermediate expression, and controlling each insert 20 to move according to the transition expression sequence under the current expression until the target expression is switched to. The expression switching method can avoid mechanical feeling generated when the current expression is switched to the target expression, and the realness of the face skin structure in the expression switching process is improved.