摘  要：为使仿人面部表情机器人SHFR-1实现连续的表情动作，该文设计了一个由主控计算机和驱动控制单元两部分组成连续表情运动控制系统，主控计算机与驱动控制单元之间通过RS232串口进行数据通信。研究了一种基于表情运动脚本的机器人连续面部表情实现方法，通过对面部表情运动进行运动分析，将其分解为多个典型面部表情动作单元，然后对所要实现的一段连续表情进行运动规划，生成表情运动脚本指令，机器人根据脚本指令应用运动缝合技术生成连续的面部表情动作。最后在仿人面部表情机器人SHFR-1上进行了实验验证，试验结果表明，机器人实现了较为流畅的连续表情动作，为今后进一步研究人与机器人进行动态情感交互提供了研究平台。
关键词：仿人面部表情；表情运动脚本； 控制系统；机器人

Abstract: To realize a continuous dynamical facial expression, a continuous facial motion control system is designed for a facial robot SHFR-1. The control system consists of a master control computer and a drive control unit which are connected together by RS232 serial communication ports. A method to realize a continuous facial expression for the facial robot based on motion scripts is studied. After analyzing the facial motions, the motions are divided into many classical facial motion units. The facial motion scripts are generated during the motion planning for a required continuous facial motion. Based on the scripts, the continuous motion sequences are generated through motion suture techniques. Finally, experiments for verification are conducted on the facial robot SHFR-1. The results show the robot can do relatively smooth continuous facial expression movements. The study provide a research platform for further researches on dynamical emotional interactions between human and robots.
Key words: facial robot; expression action script; control system; robot