CN208557528U - Apery expression robot head construction and robot head control system - Google Patents
Apery expression robot head construction and robot head control system Download PDFInfo
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- CN208557528U CN208557528U CN201821018065.9U CN201821018065U CN208557528U CN 208557528 U CN208557528 U CN 208557528U CN 201821018065 U CN201821018065 U CN 201821018065U CN 208557528 U CN208557528 U CN 208557528U
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Abstract
The utility model embodiment is suitable for robotic technology field, provides a kind of apery expression robot head construction and robot head control system.The apery expression robot head construction includes skull shell, the upper layer mechanism for controlling eyebrow rotation, the middle layer mechanism for controlling eyeball and eyelid rotation and the mechanism, lower layer for controlling mouth opening and closing with grinning out and tongue is handled up；Upper layer mechanism, middle layer mechanism and mechanism, lower layer are mounted in skull shell, and upper layer mechanism is installed on the upper end of middle layer mechanism, and the lower end of middle layer mechanism is mounted on the upper end of mechanism, lower layer.The robot head control system includes apery expression robot head construction, the slave computer for the host computer for expression decision of bearing a heavy burden and for being responsible for control apery expression robot head construction work.The utility model is compact-sized, saves space, and its freedom degree is high, control is simple, cheap and practical, can apply to product secondary development and human-computer interaction research.
Description
Technical field
The utility model belongs to robotic technology field more particularly to a kind of apery expression robot head construction and machine
Head part's control system.
Background technique
The R&D work of domestic apery expression robot just occurs successively after entering 21 century, big with Harbin industry
Learning is representative, and expression robot research is quickly grown in the nearest more than ten years.Humanoid head robot can make basic facial expression
On the basis of have the abilities such as Face datection, speech emotion recognition and synthesis, affective behavior decision, machine vision, language can be passed through
The modes such as sound interaction, emotional expression and people carry out effectively affective interaction.
However, structure is complicated mostly for existing apery expression robot, involves great expense, and control complexity, be used to open up
Show on the high side, practical use is on the low side, does not have practicability.
Utility model content
The utility model embodiment technical problem to be solved is to provide a kind of apery expression robot head construction
And robot head control system, it is intended to solve apery expression robot in the prior art structure is complicated, involve great expense and
Not very practical problem.
The utility model embodiment, which is achieved in that, provides a kind of apery expression robot head construction comprising tool
Have mouth skull shell, for control eyebrow rotation upper layer mechanism, for control eyeball and eyelid rotation middle layer mechanism,
And the mechanism, lower layer for controlling mouth opening and closing with grinning out and tongue is handled up；
The upper layer mechanism, middle layer mechanism and mechanism, lower layer are mounted in the skull shell, the upper layer mechanism
It is installed on the upper end of the middle layer mechanism, the lower end of the middle layer mechanism is mounted on the upper end of the mechanism, lower layer；
The middle layer mechanism includes middle layer support frame, eyeball, upper eyelid, palpebra inferior, the first control mechanism, the second control machine
Structure and third control mechanism；The upper eyelid and palpebra inferior are rotatably connected at the front end of the middle layer support frame, institute
The driving end for stating third control mechanism drives the upper eyelid to be mutually closed and open with palpebra inferior, and the eyeball is placed on described
In the space that eyelid and palpebra inferior are constituted, the driving end of second control mechanism drives the eyeball to rotate upwardly and downwardly, and described the
The driving end of one control mechanism drives the eyeball left-right rotation.
Further, first control mechanism includes the first steering engine and first connecting rod, and first steering engine is installed on institute
It states on the support frame of middle layer, the steering engine arm of first steering engine is connect with one end flexural pivot of the first connecting rod, the first connecting rod
The other end connect with the inside side flexural pivot of the eyeball.
Further, second control mechanism includes the second steering engine and second connecting rod, and second steering engine is installed on institute
It states on the support frame of middle layer, the steering engine arm of second steering engine is connect with one end flexural pivot of the second connecting rod, the second connecting rod
The other end connect with the inner upper end flexural pivot of the eyeball.
Further, the third control mechanism includes third steering engine, upper eyelid connecting rod and palpebra inferior connecting rod, and described
Three steering engines are installed on the middle layer support frame, and the steering engine arm of the third steering engine connects with the upper eyelid connecting rod and palpebra inferior
One end flexural pivot of bar connects, and the other end of the upper eyelid connecting rod is connect with the external side flexural pivot in the upper eyelid, under described
The other end of eyelid connecting rod and the external side of the palpebra inferior are hinged.
Further, the middle inside of the eyeball is rotatably connected on the middle layer support frame by universal joint.
Further, the upper layer mechanism includes upper layer support frame, eyebrow control steering engine and eyebrow rotating member, it is described on
Layer support frame is mounted on middle layer support frame upper end, and the eyebrow control steering engine is mounted on the upper layer support frame, described
The output end of eyebrow control steering engine is connect with the eyebrow rotating member.
Further, the mechanism, lower layer include lower layer support frame, mouth opening and closing control steering engine, two mouthes grin out part,
Two mouthes, which split, to be controlled steering engine, tongue part, tongue link assembly and tongue and handles up and control steering engine；
The lower layer support frame is mounted on middle layer support frame lower end, and the mouth opening and closing control steering engine, two mouthes
It splits and controls steering engine and tongue is handled up and controls steering engine and be installed in lower layer support frame lower end, two mouthes split
Control steering engine is located at the front end two sides of the lower layer support frame, and two mouthes split and control the output of steering engine
End part of grinning out with the mouth is connect, after one end of the tongue part movably passes through the lower layer support frame, and with institute
One end rotation connection of tongue link assembly is stated, the other end and the tongue of the tongue link assembly, which are handled up, controls steering engine biography
Dynamic connection；
The skull shell includes top skull and chin, and the chin is connected by pin shaft and top skull rotation
It connects, and the chin is controlled by the steering engine arm of mouth opening and closing control steering engine and is rotated.
Further, the tongue link assembly includes the first drive rod and the second drive rod, first drive rod
One end and the tongue, which are handled up, controls the steering engine arm rotation connection of steering engine, and the other end of first drive rod and described second drives
One end of lever is rotatablely connected, and the other end of second drive rod and the tongue part are rotatablely connected.
Further, the apery expression robot head construction further includes silica gel musculus cutaneus, and the silica gel musculus cutaneus passes through glue
Water is bonded in the extexine of the skull shell.
The utility model embodiment additionally provides a kind of robot head control system, the robot head control system packet
Include above-mentioned apery expression robot head construction, for the host computer for expression decision of bearing a heavy burden and for being responsible for controlling described imitate
The slave computer of people's expression robot head construction work；
The host computer receives external voice and image information and is transmitted to the slave computer, and the slave computer is according to reception
Sound and image information control the apery expression robot head construction and carry out corresponding facial expressions and acts.
Compared with prior art, beneficial effect is the utility model embodiment: the apery expression machine of the utility model
Head part's structure includes upper layer mechanism, middle layer mechanism and mechanism, lower layer, and upper layer mechanism is for controlling control eyebrow rotation, middle layer
Mechanism includes the first, second and third control mechanism, be respectively used to control eyeball left-right rotation, eyeball rotate upwardly and downwardly and on
Eyelid is mutually closed and opens with palpebra inferior, and mechanism, lower layer is for controlling mouth opening and closing and grinning out and tongue is handled up.The apery table
Feelings robot head structure is compact to design, saves space, and its freedom degree is high, control is simple, cheap and practical
Property it is strong, can be widely applied for product secondary development and human-computer interaction research.
Detailed description of the invention
Fig. 1 is apery expression robot head construction decomposition texture schematic diagram provided by the embodiment of the utility model；
Fig. 2 is the decomposition texture schematic diagram of upper layer mechanism in Fig. 1, middle layer mechanism and mechanism, lower layer；
Fig. 3 is the structural schematic diagram of the upper layer mechanism in Fig. 2；
Fig. 4 is the structural schematic diagram of the middle layer mechanism in Fig. 2；
Fig. 5 is the structural schematic diagram of mechanism another angle in middle layer shown in Fig. 4；
Fig. 6 is the structural schematic diagram of the mechanism, lower layer in Fig. 2；
Fig. 7 is the structural schematic diagram of another angle of understructure shown in fig. 6；
Fig. 8 is the robot head control system flow diagram of the utility model embodiment.
In the accompanying drawings, each appended drawing reference indicates:
1, skull shell；11, top skull；12, chin；2, silica gel musculus cutaneus；3, upper layer mechanism；4, middle layer mechanism；5, under
Layer mechanism；6, host computer；7, slave computer；31, upper layer support frame；32, eyebrow controls steering engine；33, eyebrow rotating member；41, middle layer
Support frame；42, eyeball；43, upper eyelid；44, palpebra inferior；45, the first control mechanism；451, the first steering engine；452, first connecting rod；
46, the second control mechanism；461, the second steering engine；462, second connecting rod；47, third control mechanism；471, third steering engine；472, on
Eyelid connecting rod；473, palpebra inferior connecting rod；48, universal joint；51, lower layer support frame；52, mouth opening and closing control steering engine；53, mouth is grinned
Open part；54, two mouthes, which split, controls steering engine；55, tongue part；56, tongue link assembly；57, tongue, which is handled up, controls steering engine；
561, the first drive rod；562, the second drive rod.
Specific embodiment
In order to make the purpose of the utility model, technical solutions and advantages more clearly understood, below in conjunction with attached drawing and implementation
Example, the present invention will be further described in detail.It should be appreciated that specific embodiment described herein is only used to explain
The utility model is not used to limit the utility model.
It as shown in Figures 1 and 2, is a kind of apery expression robot head construction provided by the embodiment of the utility model.It should
Apery expression robot head construction includes having the openable and closable skull shell 1 of mouth, silica gel musculus cutaneus 2, upper layer mechanism 3, middle layer
Mechanism 4 and mechanism, lower layer 5.Wherein, upper layer mechanism 3 is for controlling eyebrow rotation, and middle layer mechanism 4 is for controlling eyeball and eyelid
Rotation, mechanism, lower layer 5 is for controlling mouth opening and closing and grinning out and tongue is handled up.Silica gel musculus cutaneus 2 is bonded in outside skull by glue
The extexine of shell 1, upper layer mechanism 3, middle layer mechanism 4 and mechanism, lower layer 5 are mounted in skull shell 1, and upper layer mechanism 3 is installed
In the upper end of middle layer mechanism 4, middle layer mechanism 4 is mounted on the upper end of mechanism, lower layer 5, is located at upper layer mechanism 3 in skull shell 1
Top, middle layer mechanism 4 are located at the middle part in skull shell 1, and mechanism, lower layer 5 is located at the mouth of skull shell 1.
In above-described embodiment, please referring collectively to shown in Fig. 3, upper layer mechanism 3 includes upper layer support frame 31, eyebrow control steering engine
32 and eyebrow rotating member 33.Upper layer support frame 31 installs the upper end of mechanism 4 in middle level, and eyebrow control steering engine 32 is mounted on upper layer
On support frame 31, the output end of eyebrow control steering engine 32 is connect with eyebrow rotating member 33；Specifically, on upper layer support frame 31
There are two symmetrical eyebrows to control steering engine 32 for left and right sides installation, controls steering engine 32 by eyebrow and drives eyebrow rotating member 33
It is rotated, to imitate the eyebrow movement of human body.
In above-described embodiment, please referring collectively to shown in Fig. 4 and Fig. 5, middle layer mechanism 4 include middle layer support frame 41, eyeball 42,
Upper eyelid 43, palpebra inferior 44, the first control mechanism 45, the second control mechanism 46 and third control mechanism 47；Middle layer support frame
41 are mounted on the lower end of upper layer support frame 31, during the both ends of upper eyelid 43 and palpebra inferior 44 are rotatably connected at by pin shaft
The driving end driving upper eyelid 43 of the front end of layer support frame 41, third control mechanism 47 is mutually closed and opens with palpebra inferior 44,
In the space that eyeball 42 is placed in upper eyelid 43 and palpebra inferior 44 is constituted, the driving end of the second control mechanism 46 drives about 42 eyeball
The driving end of rotation, the first control mechanism 45 drives 42 left-right rotation of eyeball.The middle inside of eyeball 42 can by universal joint 48
It is rotationally connected on middle layer support frame 41, to assist the rotation of eyeball 42.Specifically, the left and right sides of support frame 41 in middle level
Be mounted on symmetrical eyeball 42, upper eyelid 43, palpebra inferior 44, the first control mechanism 45, the second control mechanism 46 and
Third control mechanism 47, respectively by the first control mechanism 45, the second control mechanism 46 and third control mechanism 47
Driving 42 left-right rotation of eyeball, eyeball 42 rotates upwardly and downwardly and upper eyelid 43 is mutually closed and opens with palpebra inferior 44, to imitate people
The eyeball and eyelid of body act.
The first above-mentioned control mechanism 45 includes the first steering engine 451 and first connecting rod 452, during the first steering engine 451 is installed on
Layer support frame 41 on, the steering engine arm of the first steering engine 451 is connect with one end flexural pivot of first connecting rod 452, first connecting rod 452 it is another
End is connect with the inside side flexural pivot of eyeball 42；Specifically, a sphere part is provided on the steering engine arm of the first steering engine 451,
The inside side medium position of eyeball 42 is provided with a sphere part, one end of first connecting rod 452 is rotatably sleeved on
On sphere part on the steering engine arm of one steering engine 451, the other end of first connecting rod 452 is rotatably sleeved on the private side of eyeball 42
On the sphere part for holding medium position, so as to drive first connecting rod 452 to drive eyeball 42 by the steering engine arm of the first steering engine 451
Carry out left-right rotation.
The second above-mentioned control mechanism 46 includes the second steering engine 461 and second connecting rod 462, during the second steering engine 461 is installed on
Layer support frame 41 on, the steering engine arm of the second steering engine 461 is connect with one end flexural pivot of second connecting rod 462, second connecting rod 462 it is another
End is connect with the inner upper end flexural pivot of eyeball 42.Specifically, a sphere part is provided on the steering engine arm of the second steering engine 461,
The inner upper end medium position of eyeball 42 is provided with a sphere part, one end of second connecting rod 462 is rotatably sleeved on
On sphere part on the steering engine arm of two steering engines 461, the other end of second connecting rod 462 is rotatably sleeved on the inside of eyeball 42
On the sphere part for holding medium position, so as to drive second connecting rod 462 to drive eyeball 42 by the steering engine arm of the second steering engine 461
It is rotated upwardly and downwardly.
Above-mentioned third control mechanism 47 includes third steering engine 471, upper eyelid connecting rod 472 and palpebra inferior connecting rod 473, the
Three steering engines 471 are installed on middle layer support frame 41, and the steering engine arm of third steering engine 471 connects with upper eyelid connecting rod 472 and palpebra inferior
One end flexural pivot of bar 473 connects, and the other end of upper eyelid connecting rod 472 is connect with the external side flexural pivot in upper eyelid 43, palpebra inferior
The other end of connecting rod 473 and the external side of palpebra inferior 44 are hinged.Specifically, it is arranged on the steering engine arm of third steering engine 471
There are two the sphere parts being spaced, and the external pendant positions in upper eyelid 43 are provided with a sphere part, in the outside of palpebra inferior 44
Pendant positions are provided with a sphere part.One end of upper eyelid connecting rod 472 is rotatably sleeved on the steering engine arm of third steering engine 471
On one of sphere part on, the other end of upper eyelid connecting rod 472 be rotatably sleeved on upper eyelid 43 external side position
On the sphere part set；One end of palpebra inferior connecting rod 473 is rotatably sleeved on another ball on the steering engine arm of third steering engine 471
On body part, the other end of palpebra inferior connecting rod 473 is rotatably sleeved on the sphere part of the external pendant positions of palpebra inferior 44, from
And upper eyelid connecting rod 472 and palpebra inferior connecting rod 473 can be driven to drive upper eyelid 43 respectively by the steering engine arm of third steering engine 471
It is rotated simultaneously with palpebra inferior 44, upper eyelid 43 is made to be mutually closed and open with palpebra inferior 44.
In above-described embodiment, please referring collectively to shown in Fig. 6 and Fig. 7, mechanism, lower layer 5 includes lower layer support frame 51, mouth
Control 52, two mouthes of steering engine 53, two mouthes of part of grinning out are closed to split and control steering engine 54, tongue part 55, tongue link assembly 56
And tongue is handled up and controls steering engine 57.Wherein, lower layer support frame 51 installs 41 lower end of support frame in middle level, mouth opening and closing control flaps
52, two mouthes of machine, which split, controls steering engine 54 and tongue is handled up and controls steering engine 57 and be installed in 51 lower end of lower layer support frame, and two
A mouth, which splits, controls the front end two sides that steering engine 54 is located at lower layer support frame 51, and two mouthes split and control steering engine 54
Output end part 53 of grinning out with mouth connect, split to control steering engine 54 and respectively drive two mouthes by two mouthes and grin out part
53 mutually grin out, and start work to imitate the mouth of human body and grin.After one end of tongue part 55 movably passes through lower layer support frame 51,
And be rotatablely connected with one end of tongue link assembly 56, the other end and tongue of tongue link assembly 56, which are handled up, controls the biography of steering engine 57
Dynamic connection, being handled up by tongue controls steering engine 57 and drives tongue link assembly 56 that tongue part 55 is driven to carry out movement of handling up, with mould
The tongue action of apery body.
Above-mentioned skull shell 1 includes top skull 11 and chin 12, and chin 12 is rotated by pin shaft and top skull 11
Connection, and chin 12 is controlled by the steering engine arm 520 of mouth opening and closing control steering engine 52 and is rotated, enable chin 12 and top skull 11
It is mutually closed, so that the mouth opening and closing of skull shell 1 are controlled, to imitate the mouth movement of human body.
Above-mentioned tongue link assembly 56 includes the first drive rod 561 and the second drive rod 562, the first drive rod 561
One end and tongue, which are handled up, controls the steering engine arm rotation connection of steering engine 57, the other end of the first drive rod 561 and the second drive rod 562
One end rotation connection, the other end of the second drive rod 562 with pass through lower layer support frame 51 55 one end of tongue part be rotatablely connected,
So that tongue part 55, the first drive rod 561, the second drive rod 562, tongue is handled up and controls the steering engine arm and lower layer support of steering engine 57
Frame 51 constitute a slider-crank mechanism, handle up convenient for tongue control steering engine 57 control tongue part 55 carry out movement of handling up.
Above-mentioned apery expression robot head construction is compact to design, saves space, and its freedom degree is high, control letter
It is single, cheap and practical, it can be widely applied for the secondary development and human-computer interaction research of product.
As shown in figure 8, the utility model embodiment additionally provides a kind of robot head control system, the robot head
Control system includes above-mentioned apery expression robot head construction, for the host computer 6 for expression decision of bearing a heavy burden and for bearing
The slave computer 7 of duty control apery expression robot head construction work.Host computer 6 receives the information such as external voice and image and passes
Slave computer 7 is transported to, sound and image information control apery expression robot head construction carry out accordingly slave computer 7 based on the received
Facial expressions and acts, to realize human-computer interaction.
The above is only the preferred embodiment of the utility model only, is not intended to limit the utility model, all at this
Made any modifications, equivalent replacements, and improvements etc., should be included in the utility model within the spirit and principle of utility model
Protection scope within.
Claims (10)
1. a kind of apery expression robot head construction, which is characterized in that including with mouth skull shell, for controlling eyebrow
Hair rotation upper layer mechanism, for control eyeball and eyelid rotation middle layer mechanism and for controlling mouth opening and closing and grinning out
And the mechanism, lower layer that tongue is handled up；
The upper layer mechanism, middle layer mechanism and mechanism, lower layer are mounted in the skull shell, the upper layer mechanism installation
In the upper end of the middle layer mechanism, the lower end of the middle layer mechanism is mounted on the upper end of the mechanism, lower layer；
The middle layer mechanism include middle layer support frame, eyeball, upper eyelid, palpebra inferior, the first control mechanism, the second control mechanism with
And third control mechanism；The upper eyelid and palpebra inferior are rotatably connected at the front end of the middle layer support frame, and described the
The driving end of three control mechanisms drives the upper eyelid to be mutually closed and open with palpebra inferior, and the eyeball is placed in the upper eyelid
In the space constituted with palpebra inferior, the driving end of second control mechanism drives the eyeball to rotate upwardly and downwardly, first control
The driving end of mechanism processed drives the eyeball left-right rotation.
2. apery expression robot head construction as described in claim 1, which is characterized in that first control mechanism includes
First steering engine and first connecting rod, first steering engine are installed on the middle layer support frame, the steering engine arm of first steering engine with
One end flexural pivot of the first connecting rod connects, and the other end of the first connecting rod is connect with the inside side flexural pivot of the eyeball.
3. apery expression robot head construction as described in claim 1, which is characterized in that second control mechanism includes
Second steering engine and second connecting rod, second steering engine are installed on the middle layer support frame, the steering engine arm of second steering engine with
One end flexural pivot of the second connecting rod connects, and the other end of the second connecting rod is connect with the inner upper end flexural pivot of the eyeball.
4. apery expression robot head construction as described in claim 1, which is characterized in that the third control mechanism includes
Third steering engine, upper eyelid connecting rod and palpebra inferior connecting rod, the third steering engine are installed on the middle layer support frame, the third
The steering engine arm of steering engine is connect with one end flexural pivot of the upper eyelid connecting rod and palpebra inferior connecting rod, the upper eyelid connecting rod it is another
End is connect with the external side flexural pivot in the upper eyelid, the other end of the palpebra inferior connecting rod and the external side of the palpebra inferior
It is hinged.
5. apery expression robot head construction as described in claim 1, which is characterized in that the middle inside of the eyeball is logical
Universal joint is crossed to be rotatably connected on the middle layer support frame.
6. the apery expression robot head construction as described in any one of claim 1 to 5, which is characterized in that on described
Layer mechanism includes that upper layer support frame, eyebrow control steering engine and eyebrow rotating member, the upper layer support frame are mounted on the middle layer
Support frame upper end, eyebrow control steering engine are mounted on the upper layer support frame, the output end of the eyebrow control steering engine with
The eyebrow rotating member connection.
7. the apery expression robot head construction as described in any one of claim 1 to 5, which is characterized in that under described
Layer mechanism includes that grin out part, two mouthes of lower layer support frame, mouth opening and closing control steering engine, two mouthes split and control steering engine, tongue
Head, tongue link assembly and tongue are handled up and control steering engine；
The lower layer support frame is mounted on middle layer support frame lower end, and the mouth opening and closing control steering engine, two mouthes split
Control steering engine and tongue, which are handled up, to be controlled steering engine and is installed in lower layer support frame lower end, and two mouthes split control
Steering engine is located at the front end two sides of the lower layer support frame, and two mouthes split control steering engine output end it is equal
Connect with mouth part of grinning out, after one end of the tongue part movably passes through the lower layer support frame, and with the tongue
One end rotation connection of head link assembly, the other end and the tongue of the tongue link assembly, which are handled up, controls steering engine transmission company
It connects；
The skull shell includes top skull and chin, and the chin is rotatablely connected by pin shaft and the top skull, and
The chin rotation is controlled by the steering engine arm of mouth opening and closing control steering engine.
8. apery expression robot head construction as claimed in claim 7, which is characterized in that the tongue link assembly includes
First drive rod and the second drive rod, one end of first drive rod and the tongue, which are handled up, controls the steering engine arm rotation of steering engine
One end of connection, the other end of first drive rod and second drive rod is rotatablely connected, second drive rod it is another
One end and the tongue part are rotatablely connected.
9. apery expression robot head construction as described in claim 1, which is characterized in that the apery expression robot head
Portion's structure further includes silica gel musculus cutaneus, and the silica gel musculus cutaneus is bonded in the extexine of the skull shell by glue.
10. a kind of robot head control system, which is characterized in that including apery expression robot as described in claim 1
Head construction controls the apery expression robot head construction work for the host computer for expression decision of bearing a heavy burden and for responsible
The slave computer of work；
The host computer receives external voice and image information is simultaneously transmitted to the slave computer, slave computer sound based on the received
Sound and image information control the apery expression robot head construction and carry out corresponding facial expressions and acts.
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| CN201821018065.9U CN208557528U (en) | 2018-06-28 | 2018-06-28 | Apery expression robot head construction and robot head control system |
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| CN201821018065.9U CN208557528U (en) | 2018-06-28 | 2018-06-28 | Apery expression robot head construction and robot head control system |
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Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714902A (en) * | 2018-06-28 | 2018-10-30 | 香港中文大学（深圳） | Apery expression robot head construction and robot head control system |
| CN109940636A (en) * | 2019-04-02 | 2019-06-28 | 广州创梦空间人工智能科技有限公司 | Humanoid robot for commercial performance |
| CN110125947A (en) * | 2019-05-06 | 2019-08-16 | 香港中文大学（深圳） | Robot face expression control mechanism and robot with it |
-
2018
- 2018-06-28 CN CN201821018065.9U patent/CN208557528U/en active Active
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN108714902A (en) * | 2018-06-28 | 2018-10-30 | 香港中文大学（深圳） | Apery expression robot head construction and robot head control system |
| CN109940636A (en) * | 2019-04-02 | 2019-06-28 | 广州创梦空间人工智能科技有限公司 | Humanoid robot for commercial performance |
| CN110125947A (en) * | 2019-05-06 | 2019-08-16 | 香港中文大学（深圳） | Robot face expression control mechanism and robot with it |
| CN110125947B (en) * | 2019-05-06 | 2024-06-07 | 香港中文大学（深圳） | Robot facial expression control mechanism and robot with same |
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