Modeling and design of a humanoid robotic face based on an active drive points model

This study develops a face robot with human-like appearance for making facial expressions similar to a specific subject. First, an active drive points (ADPs) model is proposed for establishing a robotic face with less active degree of freedom for bipedal humanoid robots. Then, a robotic face design method is proposed, with the robot possessing similar facial appearance and expressions to that of a human subject. A similarity evaluation method is presented to evaluate the similarity of facial expressions between a robot and a specific human subject. Finally, the proposed facial model and the design methods are verified and implemented on a humanoid robot platform. Graphical Abstract

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