¹Computer Graphics, Reutlingen University, Reutlingen, Germany.
²Mechatronics, Reutlingen University, Reutlingen, Germany.

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Abstract—In recent years robotic systems have matured enough to perform simple home or office tasks, guide visitors in environments such as museums or stores and aid people in their daily life. To make the interaction with service and even industrial robots as fast and intuitive as possible, researchers strive to create transparent interfaces close to human-human interaction. As facial expressions play a central role in human-human communication, robot faces were implemented with varying degrees of human-likeness and expressiveness. We propose an emotion model to parameterize a screen based facial animation via inter-process communication. A software will animate transitions and add additional animations to make a digital face appear “alive” and equip a robotic system with a virtual face. The result will be an inviting appearance to motivate potential users to seek interaction with the robot.

Index Terms—Facial animation, circumplex model, face design.

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Cite: Steffen Wittig, Uwe Kloos, Matthias Rätsch, "Emotion Model Implementation for Parameterized Facial Animation in Human-Robot-Interaction," Journal of Computers vol. 11, no. 6, pp. 439-445, 2016.