Control design of a biped humanoid robot capable of facial expression

This paper introduces a new humanoid robot capable of facial expression modifications. Since the face and its expressions play a significant role for natural communication, the robotic face was developed using highly vivid facial expressions. After having outlined the development of the humanoid robot, we describe the hardware and the distributed control system. Then, the design of the robotic face is presented. Finally, the typical facial expressions and walking patterns are demonstrated via experiments.