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Development of Emotion Expressive Humanoid Head

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Development of Emotion Expressive Humanoid Head DEVELOPMENT OF EMOTION EXPRESSIVE HUMANOID HEAD BY MOHD FARID BIN MD ALIAS A dissertation submitted in fulfilment of the requirement for the degree of Master of Science (Mechatronics Engineering) Kulliyyah of Engineering International Islamic University Malaysia MARCH 2012 ABSTRACT Advances in robotics technology have paved way to the innovation of sophisticated robots with improved capacity and capability to perform tasks such as humanoids. As humanoids are gradually adapted within human-existing environment, interactions with humans are inevitable and thus there is a need to develop human-friendly humanoids particularly with expressive face to portray emotions. These robots, known as humanoid heads, can be of anthropomorphic (human-like) or iconic (cartoonish) look. Iconic humanoid heads are generally less prone to anthropomorphism pitfalls of Mori’s Uncanny Valley theory. However, in terms of facial elements, some iconic humanoid head designs tend to exclude the mouth cues even though the mouth region can be effective in conveying emotional displays. In this thesis, a new humanoid head design with unique mouth mechanism is presented. The humanoid head, named as AMIR-III is designed and developed based on AMIR Model of Facial Expression (AMEr). AMIR-III possesses 18 DOFs in total and two eyes with built-in cameras. Together with other facial cues, its 3-DOF mouth forms the basic facial expressions of AMIR-III namely happy, sad, angry and surprised. From an expression recognition survey, the recognition rates of AMIR-III facial expressions are found to be generally recognizable to human beings and at par with recognition rates of other humanoid heads in comparison with slight variation on its happy expression. ii مل ّخص البحث التقدم في تكنولوجيا الروبوت قد مهدت الطريق ﻻبتكار روبوتات متطورة مع تحسين القدرة والقدرة على أداء مهام مثل الروبوت.كما يتم تكييفها تدريجيا الروبوت داخل اﻹنسان القائمة والبيئة ، والتفاعل مع البشر أمر ﻻ مفر منه، وبالتالي هناك حاجة لتطوير اﻹنسان ودية الروبوت خاصة مع وجهه معبرة لتصوير العواطف. يمكن لهذه الروبوتات، والمعروفة باسم رؤساء الروبوت، يمكن من نظرة )الكرتوني( مجسم )مثل اﻹنسان( أو مبدع. رؤساء الروبوت اﻷيقونية هي عموما أقل عرضة للمطبات التجسيم نظرية موري وادي خارقة. ومع ذلك، من حيث عناصر الوجه ، وبعض رأس الروبوت مبدع تصاميم تميل إلى استبعاد العظة الفم على الرغم من أن منطقة الفم يمكن أن يكون فعاﻻ في نقل يعرض العاطفي. في هذه اﻷطروحة، يقدم رئيس الروبوت تصميم جديد مع آلية الفم فريدة من نوعها. رئيس الروبوت ويدعى أمير الثالث يملك 18 في المجم وع DOFsوالعينين مع اثنين من المدمج في الكاميرات. مع اشارات الوجه اﻵخر ، في 3 شعبة الشؤون المالية الفم أشكال التعبيرات اﻷساسية لﻷمير الوجه الثالث وهي سعيدة، حزينة، والغضب والدهشة. استنادا إلى مسح أجري اﻻعتراف التعبير، فإن معدﻻت اﻻعتراف أمير تعابير الوجه الثالث عموما التعرف على البشر وعلى قدم المساواة مع معدﻻت اﻻعتراف رؤساء الروبوت اﻷخرى في المقارنة ، باستثناء تعبيرها سعيد الذي اﻷدنى نسبيا بمعدل 60 في المئة من اﻻعتراف. هذه الظاهرة هي من المفترض بسبب وجود محيط الفم من التعبير سعيدة بالمقارنة مع صيغته المحاكاة الذي يولد ربما تفسيرات متباينة بين البشر. iii APPROVAL PAGE I certify that I have supervised and read this study and that in my opinion, it conforms to acceptable standards of scholarly presentation and is fully adequate, in scope and quality, as a dissertation for the degree of Master of Science in Mechatronics Engineering. ………………………………... Amir Akramin Shafie Supervisor ………………………………... Nahrul Khair Alang Md. Rashid Co-Supervisor I certify that I have read this study and that in my opinion it conforms to acceptable standards of scholarly presentation and is fully adequate, in scope and quality, as a dissertation for the degree of Master of Science in Mechatronics Engineering. ……………………………….. Md. Raisuddin Khan Examiner This dissertation was submitted to the Department of Mechatronics and is accepted as a fulfilment of the requirement for the degree of Master of Science in Mechatronics Engineering. ……………………………….. Asan Gani Abdul Muthalif Head, Department of Mechatronics This dissertation was submitted to the Kulliyyah of Engineering and is accepted as a fulfilment of the requirement for the degree of Master of Science in Mechatronics Engineering. ……………………………… Amir Akramin Shafie Dean, Kulliyyah of Engineering iv DECLARATION I hereby declare that this dissertation is the result of my own investigations, except where otherwise stated. I also declare that it has not been previously or concurrently submitted as a whole for any other degrees at IIUM or other institutions. Mohd Farid Bin Md Alias Signature …………………………………… Date ………….…………….. v INTERNATIONAL ISLAMIC UNIVERSITY MALAYSIA DECLARATION OF COPYRIGHT AND AFFIRMATION OF FAIR USE OF UNPUBLISHED RESEARCH Copyright © 2012 by International Islamic University Malaysia. All rights reserved. DEVELOPMENT OF EMOTION EXPRESSIVE HUMANOID HEAD I hereby affirmed that The International Islamic University Malaysia (IIUM) holds all rights in the copyright of this Work and henceforth any reproduction or use in any form or by means whatsoever is prohibited without the written consent of IIUM. No part of this unpublished research may be reproduced, stored in a retrieval system, or transmitted in any form or by means, electronic, mechanical, photocopying, recording or otherwise without prior written permission of the copyright holder. Affirmed by MOHD FARID BIN MD ALIAS ……………………………. ...……………….. Signature Date vi To my beloved wife Nurul Izzah, my daughter Nurul Farihah and my son Ammar Faiz vii ACKNOWLEDGEMENTS All the praise to Allah SWT who Has Given me the strength, wisdom and patience to finally complete this dissertation, alhamdulillah. Here I wish to acknowledge the people who have contributed their valuable assistance in the preparation and completion of this dissertation. First and foremost, I am heartily thankful to my main supervisor, Assoc. Prof. Dr. Amir Akramin Shafie, for your valuable guidance and support since the start of this research until it could be completed, and to my co- supervisor Assoc. Prof. Dr. Nahrul Khair Alang Md Rashid for your encouragement and understanding. To my wife Nurul Izzah Sidek, my daughter, Nurul Farihah and my son Ammar Faiz, I really appreciate your love and understanding during my busy research activities. To my scholarship sponsors, the Ministry of Higher Education (MoHE), I really appreciate the financial support which helps me to continue my living as a student. To my research teammates, Aseef Iqbal, Jamil Radhi, Mehdi, Hamizah, it is indeed an enjoyable experience working together with all of you. I owe my gratitude to Brother Shahlan Dalil of Mechatronics Workshop, Brother Ramly of CNC Milling Lab and Brother Hafizul Zikri of Software Lab for allowing and assisting me to use your lab facilities in the course of this research. Special thanks to Prof. Momoh Jimoh E. Salami for his kind review of my final dissertation draft particularly in terms of formatting. I would like to thank Asst. Prof. Dr. Aisha Hassan Abdalla Hashim for helping me to write my abstract in Arabic. I also wish to express my deepest gratitude to my parent and parent-in-law, for your continuous support, dedication, comprehension and love. Lastly, thank you to all of those who supported me in any respect during the completion of this dissertation. viii TABLE OF CONTENTS Abstract ……………………………………………...………...……………............. ii Abstract in Arabic ....................................................................................................... iii Approval Page ............................................................................................................. iv Declaration Page .......……………………………………………………............….. v Copyright Page …..………………………………………………………………….. v i Dedication …………...……………………………………………...…………....…. vii Acknowledgements ……………………………………………………………......... viii List of Tables ……………………………………………………………..……......... xii List of Figures ………………….....………………………………...…………......... xiii List of Abbreviations ……………………………………………………………....... xvi List of Symbols ........................................................................................................... xvii CHAPTER 1: INTRODUCTION ………………………………………...…....... 1 1.1 Overview ……………………………………………………………..….. 1 1.2 Problem Statement and Its Significance .……………………...…...…… 6 1.3 Research Objectives …………………………………………...………… 8 1.4 Scope of Research ...……………………………………………...……… 8 1.5 Research Methodology …………………………………………….......... 8 1.6 Dissertation Outline ...………………………………………………….... 10 CHAPTER 2: LITERATURE REVIEW……………………...………………… 11 2.1 Introduction ……………………………………………………………… 11 2.2 Anatomy of Human Head and Neck …………………………………….. 11 2.2.1 The Skeletal System of Human Head and Neck ………………..... 11 2.2.2 The Muscular System of Human Head and Neck ………………... 12 2.2.3 Human Vision ……………………………………...…………….. 13 2.3 Anthropometric Data ……………………………………………...…...... 14 2.3.1 Static Anthropometric Data……………………………………….. 14 2.3.2 Dynamic Anthropometric Data …………………………………... 16 2.4 Facial Action Coding System (FACS) …………………………….......... 17 2.5 HRI Experiment ......................................................................................... 18 2.6 Humanoid Heads …………………………………………….………...… 18 2.6.1 WE4-RII Humanoid Head ……………………………………....... 19 2.6.2 iCub Humanoid Head …………………………………………...... 20 2.6.3 Nexi Mds Humanoid Head ……………………………………...... 20 2.6.4 Flobi Humanoid Head …………………………………………..... 21 2.6.5 Meka S1 Humanoid Head ………………………………...……… 22 2.6.6 BERT2 Humanoid Head …………………………………….…… 22 2.6.7 AMIR-I Humanoid Head ………………………………...………. 23 2.6.8 AMIR-II Humanoid
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