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This paper introduces a humanoid robot system for evaluating human-robot interaction. A humanoid robot. Kibo. is designed to walk and dance with 22 joints and specially has a robot face to express its emotion by moving lips and eyebrows, etc. To evaluate emotional states of a human operator, face and gesture expressions are recognized by external stereo vision system and speech commands are recognized with a wireless microphone. On the view point of software development. Intelligent Robot Software Architecture developed by Center for Intelligent Robotics is adopted. Since the software architecture is designed for reusability and extensibility, rapid S/W development was achieved. As primary experiments. Kibo imitates human operator's facial and gesture expression.