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| DC 欄位 | 值 | 語言 |
|---|---|---|
| dc.contributor.advisor | 黃漢邦 | |
| dc.contributor.author | Chia-Chen Lin | en |
| dc.contributor.author | 林佳貞 | zh_TW |
| dc.date.accessioned | 2021-06-15T01:17:04Z | - |
| dc.date.available | 2011-07-29 | |
| dc.date.copyright | 2009-07-29 | |
| dc.date.issued | 2009 | |
| dc.date.submitted | 2009-07-27 | |
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Zha, “Modeling Facial Expression Space for Recognition,” Proceedings of the 2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, pp. 1968-1973, August, 2005. [42] Takanishi Laboratory: http://www.takanishi.mech.waseda.ac.jp/ [43] Artificial Intelligence Laboratory: http://www.ai.mit.edu/projects/humanoid-robotics-group/kismet/kismet.html [44] Hanson robotic: http://www.hansonrobotics.com/index.html [45] Kokoro Company: http://www.kokoro-dreams.co.jp/english/index.html [46] Robot watch: http://robot.watch.impress.co.jp/cda/news/2009/03/16/1665.html [47] Open CV: http://cell.fixstars.com/opencv/index.php/OpenCV_on_the_Cell [48] AAM-API: http://www.imm.dtu.dk/~aam/ [49] LIBSVM: http://www.csie.ntu.edu.tw/~cjlin/libsvm/ [50] School of Computer Science in CMU: http://www.cs.cmu.edu/afs/cs/project/face/www/facs.htm | |
| dc.identifier.uri | http://tdr.lib.ntu.edu.tw/jspui/handle/123456789/42589 | - |
| dc.description.abstract | 本論文研究目標為設計一具有類似人臉外型的機器人頭部，且可以呈現不同的臉部表情，並利用視覺功能進行表情辨識。
在表情呈現部分，本研究利用釣魚線與釣魚網模擬人臉線性與非線性肌肉結構，並且設計眼淚機構使機器人頭具有哭的表情並可以掉下眼淚。在表情辨識部分，本研究利用少量的嘴巴與眉毛參數進行表情辨識，研究結果顯示可以利用少量的參數達成高辨識率。最後結合表情呈現與表情辨識，設計一些狀況讓人與機器人間產生互動。 | zh_TW |
| dc.description.abstract | Our research goal was to develop a face robot that has a human appearance and can display facial expressions. We also constructed facial expression recognition with vision in order to create human－robot interaction.
To display facial expressions, we used fishing line and fishing net to produce a muscular structure similar to the linear and nonlinear muscles of the human face. We also designed a mechanism for producing tears and made the face robot cry like a human being. For facial expression recognition, we used a few mouth and eyebrow descriptors by which to identify facial expressions. The results proved that a few descriptors could be used to achieve a high recognition ability. Finally, we combined facial expression display with facial expression recognition, and designed some conditions for human－robot interactions. We thus produced a closer and more natural relationship between humans and robots. | en |
| dc.description.provenance | Made available in DSpace on 2021-06-15T01:17:04Z (GMT). No. of bitstreams: 1 ntu-98-R97522804-1.pdf: 3358362 bytes, checksum: 6cac2c99572f34b6322261b0a4404fbc (MD5) Previous issue date: 2009 | en |
| dc.description.tableofcontents | 致謝 I
摘要 II Abstract III List of Tables VII List of Figures VIII Chapter 1 Introduction 1 1.1 Motivation 1 1.2 Contributions 2 1.3 Thesis Organization 3 Chapter 2 Background Knowledge and Relevant Research 5 2.1 Human Facial Expression 5 2.1.1 Expression Muscles 5 2.1.2 Facial Action Coding System 6 2.2 Facial Expression Display by Face Robots 8 2.3 Facial Expression Recognition 19 2.4 Active Appearance Model 20 2.5 Support Vector Machines 21 2.5.1 Linearly Separable Case 23 2.5.2 Non-Linear Case 25 Chapter 3 Face Robot Design 26 3.1 Introduction 26 3.2 Structure of the Face Robot 28 3.2.1 Skin 28 3.2.2 Skeleton 29 3.2.3 Internal Frame 29 3.2.4 Motor 30 3.2.5 Serial Servo Controller 31 3.3 Muscle Structure and Control Points 31 3.4 Mechanism of the Line-driven System 33 3.4.1 Mechanism for Linear Muscles 33 3.4.2 Mechanism for Nonlinear Muscles 38 3.4.3 Line Installation 45 3.5 Mechanism Design 45 3.5.1 Neck 45 3.5.2 Eyeballs and Eyelids 46 3.5.3 Jaw 48 3.5.4 Tears 48 3.5.5 Blushing 49 Chapter 4 Facial Expression Recognition 50 4.1 Introduction 50 4.1.1 Face Detection 51 4.2 Feature Extraction 52 4.3 Descriptor definition 53 4.3.1 Mouth 53 4.3.2 Eyebrows 57 4.4 Facial Expression Classification 59 4.4.1 Facial Expression Database 59 4.4.2 Training and Testing the Classifier 59 4.4.3 Results 60 4.5 Eyebrow Classification 64 4.5.1 Eyebrow Database 64 4.5.2 Results 65 4.6 Combination of the results 67 Chapter 5 Implementation and Experiments 70 5.1 Displaying Facial Expressions on a Face Robot 70 5.1.1 Six Typical Facial Expressions 70 5.1.2 Special Facial Expressions－Crying 74 5.1.3 Special Facial Expressions－Blushing 74 5.1.4 Jaw 74 5.2 Facial Expression Interactions 75 5.2.1 Interaction 75 5.2.2 Mimicry 75 Chapter 6 Conclusions and Future Work 78 6.1 Conclusions 78 6.2 Future Work 79 References 80 Appendix I 84 | |
| dc.language.iso | en | |
| dc.subject | 表情辨識 | zh_TW |
| dc.subject | 表情 | zh_TW |
| dc.subject | 機器人 | zh_TW |
| dc.subject | SVM | en |
| dc.subject | facial expression recognition | en |
| dc.subject | robot head | en |
| dc.subject | AAM | en |
| dc.subject | face robot | en |
| dc.title | 仿生人形機器人頭部設計與表情辨識 | zh_TW |
| dc.title | A Face Robot Design and Facial Expression Recognition | en |
| dc.type | Thesis | |
| dc.date.schoolyear | 97-2 | |
| dc.description.degree | 碩士 | |
| dc.contributor.oralexamcommittee | 吳東權,林其禹 | |
| dc.subject.keyword | 機器人,表情,表情辨識, | zh_TW |
| dc.subject.keyword | face robot,robot head,facial expression recognition,AAM,SVM, | en |
| dc.relation.page | 89 | |
| dc.rights.note | 有償授權 | |
| dc.date.accepted | 2009-07-28 | |
| dc.contributor.author-college | 工學院 | zh_TW |
| dc.contributor.author-dept | 機械工程學研究所 | zh_TW |
| 顯示於系所單位： | 機械工程學系 | |
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