Gaze Guidance with Emotional Presentation of a Head Robot

This paper describes gaze guidance with emotional motion of a head robot, called Kamin-FA1. We propose to use not only the gaze control of the robot but also the facial expression combining with the head motion to guide a human being´s gaze to the target. We provide the information of the gaze target intuitively to human based on the shared attention with the emotional communication robot Kamin-FA1. The robot has a facial expression function using a curved surface display. The curved surface display is composed of a dome screen, a fish-eye lens and a projector. This technique generates a facial expression easily compared with other methods of mechanical facial expression. The robot has a neck mechanism to move the head. We show the effectiveness of this proposed method on gaze guidance as well as presentation of good or bad, safe or dangerous situation by the measurements of human gaze movements and psychological experiments.