Facial expression of robot face for human-robot mutual communication

This 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 the deformation based facial expression system. We also propose a robotic vision system, which changes its visual attention according to the environment. Firstly, the system must have advanced abilities to express their intention by means of 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 of the robot human recognize easily. We propose the 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.