Högskolan i Skövde

This project aims to design and construct a 3D CAD model of a humanoid robot head; this means the mechanisms that simulate the motions of the neck, the eyes and the eyelids. The project was developed in collaboration with Cognition and Interaction Laboratory at the University of Skövde.

From the literature review, it was found that most of the humanoid robots at the market are able to perform neck movements. The problem is that the neck motions today are not smooth as human neck and the movements of face details, such as the eyes and the mouth, are less developed. Only robots created for interaction research between human and robots allows for face expressions. However, the rest of the bodies of such robots are not as well developed as the face. The conclusion is that there is no humanoid robot that presents a full expression face and a well-developed body.

This project presents new mechanical concepts for how to provide smooth humanoid neck motions as well as how to show expressions of the robots face. Three parts of the humanoid heads: the neck, the eyes and the eyelids were investigated. By examining different mechanical concepts used today two types of mechanisms were found: parallel and serial. In the neck the serial mechanism was chosen because the motion obtained is smoother. The eyes and the eyelids were designed with a serial mechanism due to the limitations of the space in the head. The three parts were built in to a 3D CAD program in order to test the entire head mechanism. This results in a head mechanism that enables smooth motion of the neck and provides enough degrees of freedom to simulate feelings due to eye expressions.