Design concept of a human-like robot head

For humanoid robots able to assist humans in their daily life, the capability for adequate interaction with human operators is a key feature. If one considers that more than 60% of human communication is conducted non-verbally (by using facial expressions and gestures), an important research topic is how interfaces for this non-verbal communication can be developed. To achieve this goal, several robotic heads have been designed. However, it remains unclear how exactly such a head should look like and what skills it should have to be able to interact properly with humans. This paper describes an approach that aims at answering some of these design choices. Based on parameters obtained from a simulation system that was used to test facial expressions, the design of a human-like head developed at the University of Kaiserslautern is described. Additionally, the mechatronical design of the head and the accompanying neck joint are given. Finally, a real-time capable method for image based face detection is presented, which is a basic ability needed for interaction with humans.