Human-robot mutual communication system

The paper explores a human-robot mutual communication system, which human users can either communicate with or use as an information terminal. In particular, we propose a robotic vision system, which changes its visual attention according to the environment. We also propose a deformation based facial expression system. Firstly, the system must have advanced abilities to express its intention by making facial expressions, gestures, or speech (above all, facial expression). Reconsidering the facial action coding system and action unit from the point of what expression the robot human recognizes easily, we propose a deformation based expression system. Secondly, to realize fluent communication between human and robots, we propose a robot vision system changing its gazing communication, according to the environment and situation based on visual recognition. We developed an original character robot (CR) and evaluated the proposed methods. Consequently, it was shown that human-robot mutual communication is achievable.