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A Linear Affect–Expression Space Model and Control Points for Mascot-Type Facial Robots

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3 Author(s)
Hui Sung Lee ; Korea Adv. Inst. of Sci. & Technol., Daejeon ; Jeong Woo Park ; Myung Jin Chung

A robot's face is its symbolic feature, and its facial expressions are the best method for interacting with people with emotional information. Moreover, a robot's facial expressions play an important role in human-robot emotional interactions. This paper proposes a general rule for the design and realization of expressions when some mascot-type facial robots are developed. Mascot-type facial robots are developed to enable friendly human feelings. The number and type of control points for six basic expressions or emotions were determined through a questionnaire. A linear affect-expression space model is provided to realize continuous and various expressions effectively, and the effects of the proposed method are shown through experiments using a simulator and an actual robot system.

Published in:

IEEE Transactions on Robotics  (Volume:23 ,  Issue: 5 )