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Human-Robot Facial Expression Interaction Using Kinect and Humanoid

Ghorbandaei Pour, Ali | 2016

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  1. Type of Document: M.Sc. Thesis
  2. Language: English
  3. Document No: 55845 (58)
  4. University: Sharif University of Technology, International Campus, Kish Island
  5. Department: Science and Engineering
  6. Advisor(s): Meghdari, Ali; Alemi, Minoo
  7. Abstract:
  8. From the creation of the first robots, researchers have been fascinated by the possibility of interaction between a robot and its environment, by the possibility of robots interacting with each other and with humans. The common, underlying assumption is that humans prefer to interact with machines in the same way that they interact with other people. In this work, an assistant robot is developed based on a commercial platform, known as Alice R-50 (with the Iranian name of Mina). Alice is designed specifically for human-robot social interaction and has been used widely for studies on developmental and social robotics. It is used to improve and encourage the development of communication and interaction skills of children with autism. Alice has a 3D face of a girl, which permits many degrees of freedom for generating expressions. Alice's head, arms, legs and face can perform different movements. A Kinect camera is used for real-time geometric facial features extraction. It covers face detection, extraction of eyes, eyebrows, nostrils and mouth characteristic points, as well as an estimation of the face rotation angles. This project represents an initial attempt to develop the robotic platform for social interaction research. This platform has an attractive physical appearance with which the human always enjoys interacting. The desired work is the synchronization between the developed interaction modes and the implementation of the proposed emotion-based control
  9. Keywords:
  10. Facial Expression Recognition ; Human Robot Interaction (HRI) ; Social Robotics ; Fuzzy Finite State Machine (FFSM) ; Autism Spectrum Disorders (ASD) ; Kinect Sensor ; Humanoid Robot

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