IBM - CVUT Student Research Projects

Robotic Head with Mimic Facial Movements

Jan Kofroň (kofrojan@fel.cvut.cz)

IBM - CVUT Student Research Projects

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Guidelines

• Design and realize mechanic and electronic part of robotic head

• Design API for client computer application• Create simple demonstrating application

– Cooperate with Talking Head project

IBM - CVUT Student Research Projects

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Features

• User head tracking using eyes• Speech simulation using mouth• Speech output through speaker using

speech synthesizer• Facial mimics simulation• Touch sensitivity

IBM - CVUT Student Research Projects

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Current version (mechanical part)

• Eye movements– Horizontal direction– Vertical direction

• Mouth opening• Head horizontal rotation

IBM - CVUT Student Research Projects

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Current version (electronic part)

• ATmega32 microcontroller (design board)– 2 PWMs for driving servos– TIMER for servo multiplex (up to 8 servos)– TIMER for stepper motor moves

• Communication via RS232 with client app– Simple command protocol (see

documentation)

IBM - CVUT Student Research Projects

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Next version (mechanical part)

• Modeled face (funny fairy-tale creature)• Moveable

– mouth, eyelids, eyebrows, cheeks, funny ears• Touch sensitivity

IBM - CVUT Student Research Projects

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Next version (electronic part)

• AT90USB1287 (own PCB)– Up to 16 servos– Up to 4 stepper motors

• Communication via USB with client app– User space driver and DLL implementing API

• DAC, Amplifier and Speaker– Speech synthesis output

IBM - CVUT Student Research Projects

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Conclusion

• Project brings me new experiences with– Connecting existing projects together– Schematic and PCB design– Tiny mechanics