Hirota lab.Hirota lab. 11

Mentality Expression by the Mentality Expression by the eyes of a Roboteyes of a Robot

Presented byPresented by: Pujan Ziaie: Pujan Ziaie

SupervisorSupervisor: Prof. K. Hirota: Prof. K. HirotaDept. of Computational Intelligence and System ScienceDept. of Computational Intelligence and System Science

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OutlineOutline

Project specificationProject specification– HardwareHardware– SoftwareSoftware

ExperimentsExperiments ConclusionConclusion

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Project SpecificationProject Specification

Final goal:Final goal: Expressing Emotion through Expressing Emotion through movement of eyes and eyelidsmovement of eyes and eyelids

Control deviceControl device: H8/3048F microcontroller: H8/3048F microcontroller Robot structureRobot structure: 5 joints: 5 joints Programming language: Programming language: CC

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RobotRobot

5 degree[Kandel, E.R,et al , Principle of Neural Science.]

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MicroprocessorMicroprocessor

PWM Signals

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SoftwareSoftware– FlexibleFlexible

– EfficientEfficient

– DocumentedDocumented

HardwareHardware– H8 Evaluation BoardH8 Evaluation Board

– The Structure of RobotThe Structure of Robot

Software/HardwareSoftware/Hardware

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Control flowControl flow

Program

Output signals

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Simultaneous RotationSimultaneous Rotation

One Integrated Timer Unit One Integrated Timer Unit for each motorfor each motor

Token ring algorithmToken ring algorithm Control data are savedControl data are saved

ITU3

ITU4 IT2

ITU1

ITU0

ITU0

Control of Simultaneous Rotation

Eyelids

ITU1

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Program modulesProgram modules

Parameters to be set Parameters to be set for each motor:for each motor:1.1. DirectionDirection2.2. SpeedSpeed3.3. RangeRange

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Experiments (1)Experiments (1)

Robot final structureRobot final structure

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Experiments (2)Experiments (2)

Movement controlMovement control

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Final ExperimentFinal Experiment

Different motions:Different motions:

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Future plansFuture plans

Applying Fuzzy logic to the Applying Fuzzy logic to the controllercontroller

Implementing more Implementing more emotionsemotions

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ConclusionConclusion

Implemented the proposed system to Implemented the proposed system to express emotions through motion of eyesexpress emotions through motion of eyes

Movement control made by parameter Movement control made by parameter setting of the programsetting of the program– DirectionDirection– SpeedSpeed– RangeRange

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Thank you for listeningThank you for listening

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AcknowledgementAcknowledgement

Special thanks to my Special thanks to my tutor: tutor: Yamazaki-san Yamazaki-san for for his great helphis great help