DocumentCode :
3077723
Title :
Creating facial motions of Cybernetic Human HRP-4C
Author :
Nakaoka, Shin´ichiro ; Kanehiro, Fumio ; Miura, Kanako ; Morisawa, Mitsuharu ; Fujiwara, Kiyoshi ; KANEKO, Kenji ; Kajita, Shuuji ; Hirukawa, Hirohisa
Author_Institution :
Fac. of Intell. Syst. Res. Inst., Nat. Inst. of Adv. Ind. Sci. & Technol. (AIST), Japan
fYear :
2009
fDate :
7-10 Dec. 2009
Firstpage :
561
Lastpage :
567
Abstract :
HRP-4C is our novel biped humanoid robot whose body shape and face appearance are quite similar to those of female humans. It can make not only various whole body motions including biped locomotion but also various facial motions using eleven axes joints inside the head. This paper focuses on the face of HRP-4C, the mechanical structure of it and the software system for creating its facial motions. To make creation process of the facial motions easy and efficient is one of the important technologies for the practical use of the robot. Our system allows controlling the face of actual robot from the graphical user interface running on a client PC with the high responsiveness. This feature enables a creator to efficiently edit detailed facial motions with powerful functions including overdub loop edit, key pose sequence edit with the lip-sync mode, and automatic blinking. By using this system, we were able to rapidly make facial motions for the demonstrations of HRP-4C.
Keywords :
control engineering computing; graphical user interfaces; humanoid robots; legged locomotion; automatic blinking; biped humanoid robot; biped locomotion; cybernetic human HRP-4C; facial motions; graphical user interface; key pose sequence edit; lip-sync mode; overdub loop edit; software system; Automatic control; Control systems; Cybernetics; Face; Humanoid robots; Humans; Joints; Legged locomotion; Shape; Software systems;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Humanoid Robots, 2009. Humanoids 2009. 9th IEEE-RAS International Conference on
Conference_Location :
Paris
Print_ISBN :
978-1-4244-4597-4
Electronic_ISBN :
978-1-4244-4588-2
Type :
conf
DOI :
10.1109/ICHR.2009.5379516
Filename :
5379516
Link To Document :
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