“Mask-bot”: A life-size robot head using talking head animation for human-robot communication

In this paper, we introduce our life-size talking head robotic system, "Mask-bot", developed as a platform to support and accelerate human-robot communication research. The "Mask-bot" hardware consists of a semi-transparent plain mask, a portable LED projector with a fish-eye conversion lens mounted behind the mask, a pan-tilt unit and a mounting base. The hardware is driven by a software animation engine controlling face model selection and calibration augmented by an OpenHRI-based speech communication module that generates text-to-speech responses for conversational exchanges. The system projects the calibrated animated head onto the mask. Via this process the head becomes a life-size talking head in real space as opposed to 2D flat screen space or stereo pseudo-3D screen space. "Mask-bot" can easily change the appearance and behavior of the face model, affording the means for easily evaluating new face platforms for a variety of characteristics, including AV speech synthesis and perception, without building a new actual robotic head, thus accelerating the design cycle for robot heads.