The invention discloses an anthropomorphic
robot facial expression control method, device and equipment, a medium and a product, and relates to the technical field of anthropomorphic humans. The method comprises the following steps: firstly, receiving an external expression trigger instruction, then planning a corresponding
facial expression action sequence, specifically, when each
facial expression action in the sequence is planned, actively inserting a
silence delay before executing the action, the duration of the
silence delay being the duration from instruction receiving to action execution starting, and the duration of the
silence delay being the duration from instruction receiving to action execution starting. The ratio of the stimulation-reaction delay to the execution duration of the corresponding action is controlled within a preset interval, and finally the
robot face execution mechanism is driven based on the sequence to complete the expression, so that the mechanical and abrupt feeling caused by
transient response in the prior art is overcome by actively introducing and quantitatively controlling the proportion of the stimulation-reaction delay to the action duration, and the safety of the
robot is improved. And the natural cognitive
processing rhythm of human is simulated, so that the facial organ movement of the robot better conforms to the movement mode and reaction rule of human, and the expression naturalness and life feeling are remarkably improved.