Vision development of humanoid head robot SHFR-III

This article presents a humanoid robot head system SHFR-III including the mechanism, control system, and vision system. The humanoid robot head has 22 degrees of freedom. Its control system uses FPGA as the controller. Facial movements are realized through driving traction mechanisms by controlling servos. The vision system of the robot SHFR-III has a human-computer interaction interface with four kinds of work patterns, which includes facial expression recognitions and representations, face recognitions, gender recognitions and expression representations. The experiments show that the robot can recognize six basic expressions and vividly reproduce them.