Development of the humanoid head portrait robot system with flexible face and expression

A humanoid portrait robot system with flexible face and facial expression is developed to realize the art portrait of human head and the facial expression of entire behavior. The mechanism of robot, design and manufacture of flexible face, and control system are presented. A new driving element of rope is applied to the driving mechanism of facial expression. The combinational design of facial expression driving unit is proposed. In order to simulate lecture and conversation of human, the problem and solution of head entire behavior for matching facial expression and action of head mechanism are presented. Eight kinds of facial expressions of a humanoid portrait robot are provided. Satisfied results are obtained