| Summary: | 碩士 === 華夏科技大學 === 智慧型機器人研究所 === 104 === Following the improvement of living standard of human being, there will be more robots merging into human’s life. Compared to simple task-oriented robots, to achieve the human-computer interaction, the robots with the emotional function will be more welcomed. Accordingly, the study of the head function of the humanoid robot is significant.
The traditional Village Deity statue is wooden-carved, coated with colored paint, but there is not any expression on face. The robot Village Deity statue equipped with rotating and motor positioning function will do facial expressions to show “yes” by nodding head or “no” by shaking head. Such expressions give the statue showing the intellectual ability. The robots combining with culture and intelligent design will be the main trend of next industrial revolution. This study could be one of the pioneer ones of such trend.
The objective of this paper is to design a robotic head of the Village Deity statue with the ability to show facial expressions. In order to fulfill those facial functions, the design has 13 Degree of freedom in the head body, which scatters in eyebrows, eyelids, mouth and neck these five drive components. Arduino controller is adopted as the control system. The hardware includes a power supply circuit, USB, SOC and 13 PWM control circuits.
Microsoft visual studio C# is chosen as development environment program. Multiple assemblers controlled by 13-channel PWM control signals are completed. The protocols among bluetooth networks are integrated. The input devices are increased, such as keyboard, mouse, smart phone, PDA, joystick and the web remote control.
The interface design of positioning mechanism control system of robot head enables eye blinking, eyeball moving up-down, left-right, lower jaw open-close, neck area nodding up-down, shaking left-right, which make facial expressions happen, such as happiness, anger, sadness, joy etc. It can speak and sing, also make different facial expression to match the music rhythm.
Through carrying out the study, we know the humanoid robot head can fulfill the pre-assumed functions, Most of all; this humanoid Village Deity statue catches human eyes with irresistibly amiable feeling.
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