| dc.description.abstract | This study proposes a nimble robot head with auditory, tactual and vision senses. Accomplished with another researcher [1], the robot head has the functions of entertainments and interaction to peoples. To implement the robot nimbleness, the mechanism of head employs a linkage structure and servo motors to establish the movement points. The movement points are eyelid, eye, eyebrow, and mouth. Controlling the movement points can present different facial expressions. The robot has the turntable mechanism in the bottom, such that the camera, which is set on the table, can follow the user. The head mechanism is combined with neck mechanism designed in [1]. As for the system aspect, this robot is developed on PC base. Using Kinect sensor which captures color and depth information of the user is helpful to complete the vision of robot. The robot vision can recognize the face and gestures of the user, and make the robot give correct responses correspondingly. According to the recognized face position, the robot can follow and see the face of the user. In order to recognize the correct gesture, we defined a region of interest (ROI). In ROI, the image process including skin color detection and position/ length of fingers, position/ radius of palm finding can recognize the gestures of the user, so that the robot head can understand the commands from the user and do the correct corresponding motions. The photo taking function is as follows. After taking photos, the user can find the photos from the cloud album conveniently and secretly based on the code on the LCD. In summary, according to the gestures, the robot can perform four main functions for the robot system: (1) photo taking, (2) song singing [1], (3) speech recognition and dialogue [1] and (4) response for the touching and beating [1]. With the simple gestures, the user can easily operate the function rapidly, and it also improves the interaction of robot. | en_US |