CAJ | 학술논문

随着人工智能技术的不断发展，具有人机交互功能的智能服务机器人已经成为机器人研究领域一个重要的发展方向，具有表情识别与再现能力的仿人表情机器人已成为该方向研究的热点。文章分析了表情机器人的表情特征及其定义，基于机械设计、传感器技术、电机控制、人工智能以及三维造型等技术对具有表情再现功能的机器人头部机械结构、控制系统及软件系统进行了研究与设计。通过对头部系统的控制与设计，该机器人的头部各器官及其相应的表情控制点可以迅速、精确地到达预定的位置，从而实现各种情感的表达。
수착인공지능기술적불단발전，구유인궤교호공능적지능복무궤기인이경성위궤기인연구영역일개중요적발전방향，구유표정식별여재현능력적방인표정궤기인이성위해방향연구적열점。문장분석료표정궤기인적표정특정급기정의，기우궤계설계、전감기기술、전궤공제、인공지능이급삼유조형등기술대구유표정재현공능적궤기인두부궤계결구、공제계통급연건계통진행료연구여설계。통과대두부계통적공제여설계，해궤기인적두부각기관급기상응적표정공제점가이신속、정학지도체예정적위치，종이실현각충정감적표체。
With the continuous development of the artificial intelligence technology,intelligent service robot,which has human-computer interaction function, has become an important development direction in the field of robotics research,and humanoid robot with facial expression recognition and representation has become the focus of researches.In the paper,emotional characteristics and its definition have been analyzed,the mechanism,control system and software system of the head system of the robot with the function of expression reproduction have been designed on the basis of machinery design,sensor technology,actuator control and artificial intelligence technology.Through the design and control of the head system,the robot's head organ and expression control points can accurately and quickly move to designated position,so a variety of emotional expression can be completed.