• The Journal of Korea Robotics Society
• /
• v.3 no.4
• /
• pp.300-307
• /
• 2008

This paper is concerned with face recognition for human-robot interaction (HRI) in robot environments. For this purpose, we use Tensor Subspace Analysis (TSA) to recognize the user's face through robot camera when robot performs various services in home environments. Thus, the spatial correlation between the pixels in an image can be naturally characterized by TSA. Here we utilizes face database collected in u-robot test bed environments in ETRI. The presented method can be used as a core technique in conjunction with HRI that can naturally interact between human and robots in home robot applications. The experimental results on face database revealed that the presented method showed a good performance in comparison with the well-known methods such as Principal Component Analysis (PCA) and Linear Discriminant Analysis (LDA) in distant-varying environments.

• The Journal of Korea Robotics Society
• /
• v.3 no.4
• /
• pp.270-277
• /
• 2008

The development of a face robot basically targets very natural human-robot interaction (HRI), especially emotional interaction. So does a face robot introduced in this paper, named Buddy. Since Buddy was developed for a mobile service robot, it doesn't have a living-being like face such as human's or animal's, but a typically robot-like face with hard skin, which maybe suitable for mass production. Besides, its structure and mechanism should be simple and its production cost also should be low enough. This paper introduces the mechanisms and functions of mobile face robot named Buddy which can take on natural and precise facial expressions and make dynamic gestures driven by one laptop PC. Buddy also can perform lip-sync, eye-contact, face-tracking for lifelike interaction. By adopting a customized emotional reaction decision model, Buddy can create own personality, emotion and motive using various sensor data input. Based on this model, Buddy can interact probably with users and perform real-time learning using personality factors. The interaction performance of Buddy is successfully demonstrated by experiments and simulations.

• 제어로봇시스템학회:학술대회논문집
• /
• 2001.10a
• /
• pp.171.4-171
• /
• 2001

This paper proposes a method of human- robot interaction (HRI) using face directional gesture. A single CCD color camera is used to input face region, and the robot recognizes the face directional gesture based on the facial feature´s positions. One can give a command such as stop, go, left and right turn to the robot using the face directional gesture. Since the robot also has the ultra sonic sensors, it can detect obstacles and determine a safe direction at the current position. By combining the user´s command with the sensed obstacle configuration, the robot selects the safe and efficient motion direction. From simulation results, we show that the robot with HRI is more reliable for the robot´s navigation.

• 제어로봇시스템학회:학술대회논문집
• /
• 2003.10a
• /
• pp.835-838
• /
• 2003

Computer vision and natural-language dialogue play an important role in friendly human-machine interfaces for service robots. In this paper we describe an integrated face detection and face recognition system for a welfare robot, which has also been combined with the robot's speech interface. Our approach to face detection is to combine neural network (NN) and genetic algorithm (GA): ANN serves as a face filter while GA is used to search the image efficiently. When the face is detected, embedded Hidden Markov Model (EMM) is used to determine its identity. A real-time system has been created by combining the face detection and recognition techniques. When motivated by the speaker's voice commands, it takes an image from the camera, finds the face inside the image and recognizes it. Experiments on an indoor environment with complex backgrounds showed that a recognition rate of more than 88% can be achieved.

• Journal of Korea Society of Industrial Information Systems
• /
• v.19 no.5
• /
• pp.33-37
• /
• 2014

As personal information is utilized as an important user authentication means, a trustable certification means is being required. The face identification technology using characteristics of the personal face among several biometrics technologies is easy in extracting features. In this paper, we implement a face identification robot for unattended reception. The robot is performed by face identification. To assess the effectiveness of the robot, it was tested and experimental results show that the proposed method is applicable for unattended reception interface.

• The Journal of Korea Robotics Society
• /
• v.3 no.3
• /
• pp.219-225
• /
• 2008

This study developed a surveillance robot for a ship. The developed robot consists of ultrasonic sensors, an actuator, a lighting fixture and a camera. The ultrasonic sensors are used to avoid collision with obstacles in the environment. The actuator is a servo motor system. The developed robot has four drive wheels for driving. The lighting fixture is used to guide the robot in a dark environment. To transmit an image, a camera with a pan moving and a tilt moving is equipped on the upper part of the robot. AdaBoost algorithm trained with 15 features, is used for face recognition. In order to evaluate the face recognition of the developed robot, experiments were performed.

• Journal of Institute of Control, Robotics and Systems
• /
• v.10 no.11
• /
• pp.991-999
• /
• 2004

Face robots capable of expressing their emotional status, can be adopted as an efficient tool for friendly communication between the human and the machine. In this paper, we present a face robot actuated with artificial muscle based on dielectric elastomer. By exploiting the properties of polymers, it is possible to actuate the covering skin, eyes as well as provide human-like expressivity without employing complicated mechanisms. The robot is driven by seven types of actuator modules such as eye, eyebrow, eyelid, brow, cheek, jaw and neck module corresponding to movements of facial muscles. Although they are only part of the whole set of facial motions, our approach is sufficient to generate six fundamental facial expressions such as surprise, fear, anger, disgust, sadness, and happiness. Each module communicates with the others via CAN communication protocol fur the desired emotional expressions, the facial motions are generated by combining the motions of each actuator module. A prototype of the robot has been developed and several experiments have been conducted to validate its feasibility.

• 한국HCI학회:학술대회논문집
• /
• 2009.02a
• /
• pp.140-145
• /
• 2009

Significant attention has recently been drawn to human robot interaction system that uses face detection technology. The most conventional face detection methods have applied under pixel domain. These pixel based face detection methods require high computational power. Hence, the conventional methods do not satisfy the robot environment that requires robot to operate in a limited computing process and saving space. Also, compensating the variation of illumination is important and necessary for reliable face detection. In this paper, we propose the illumination invariant face detection that is performed under the compressed domain. The proposed method uses color balancing module to compensate illumination variation. Experiments show that the proposed face detection method can effectively increase the face detection rate under existing illumination.

• Proceedings of the Korean Society of Precision Engineering Conference
• /
• 2007.06a
• /
• pp.397-398
• /
• 2007

• The Journal of Korea Robotics Society
• /
• v.1 no.1
• /
• pp.58-65
• /
• 2006

The emotional interface is essential technology for the robot to provide the proper service to the user. In this research, we developed emotional components for the service robot such as a neural network based facial expression recognizer, emotion expression technologies based on 3D graphical face expression and joints movements, considering a user's reaction, behavior selection technology for emotion expression. We used our humanoid robots, AMI and AMIET as the test-beds of our emotional interface. We researched on the emotional interaction between a service robot and a user by integrating the developed technologies. Emotional interface technology for the service robot, enhance the performance of friendly interaction to the service robot, to increase the diversity of the service and the value-added of the robot for human. and it elevates the market growth and also contribute to the popularization of the robot. The emotional interface technology can enhance the performance of friendly interaction of the service robot. This technology can also increase the diversity of the service and the value-added of the robot for human. and it can elevate the market growth and also contribute to the popularization of the robot.