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Control points

AUs and Control Points. Control points. The number of McKibben air muscles①. Head part (for facial expression) ・ 80[mm] × 4 ・ 90[mm] × 12 ・ 100[mm] × 6. 90mm×1. 90mm×1. 90mm×1. 90mm×1. 100mm×1. 90mm×1. 90mm×1. 100mm×1. 80mm×2. 80mm×2. 110mm×1. 90mm×1. 90mm×1. 90mm×1. 90mm×1.

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Control points

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  1. AUs and Control Points Control points

  2. The number of McKibben air muscles① Head part (for facial expression) ・80[mm] × 4 ・90[mm] × 12 ・100[mm] × 6 90mm×1 90mm×1 90mm×1 90mm×1 100mm×1 90mm×1 90mm×1 100mm×1 80mm×2 80mm×2 110mm×1 90mm×1 90mm×1 90mm×1 90mm×1 90mm×2 100mm×1 100mm×1 100mm×2

  3. The number of McKibben air muscles② Head part (for nodding) ・110[mm] × 2 ・120[mm] × 2 110mm×2 120mm×2 Neck part ・90[mm] × 8 90mm×2 90mm×2 90mm×2 90mm×2

  4. DC motor and CCD camera Oculomotor ・DC motor RE13 Φ13 0.75W (#118453) × 2 ・Gear-head GP13 Φ13 0.2-0.35Nm (#110316) × 2 ・Encoder MEnc13 16[ppr] 2ch (#110778) × 2 (Maxon motor) Camera ・CCD camera CCN3412Y-2.3M × 1 (Plum net Co., Ltd (Japan)) Neck part ・DC motor TG-05D-SM-150 6[V] × 1 (TSUKASA ELECTRIC CO., LTD (Japan))

  5. System Configuration USB Video Capture CCD camera Serial (RS232C) Eye (Pitch) Eye (Yaw) Neck (Yaw) Micro computer Motor driver (×3) PC1 McKibben USB Controlled air D/A Electro-pneumatic regulator PC2 : : Compressed air Air compressor

  6. Software Configuration User Ask, Question Mike Control PC Speaker Answer Answer selection Dialogue control Data base Facial expression selection SP_DLG.exe Visual C++ Microsoft Speech SDK 5.1 Facial expression control Facial expression USB Face robot Compressor D/A Face tracking Compressed air Regulator Actuators Control PC Motor driver Micro Computer Face area extraction Gaze control Image Image capture Camera controller Video_Capture.exe Visual C++ Microsoft Direct X 8.1 USB Camera

  7. SP_DLG SP_DLG Debug dic saya.xml ・・・ un-compiled grammar file saya.cfg ・・・ compiled grammar file res.txt ・・・ response file ex 0.csv ・・・ pattern file for controlling air pressure SP_DLG.exe ・・・ exe. file winmain.cpp DA_Func.cpp SpEngine.h DA_Func.h HUSB002.h resource.h Script.rc

  8. dic/saya.xml <GRAMMAR LANGID="409"> <RULE NAME="SAYAControl" TOPLEVEL="ACTIVE"> <L> <P> <RULEREF NAME="SAYA" /> </P> </L> </RULE> <RULE NAME="SAYA"> <L PROPNAME="MOVE"> <P VAL="100">angry</P> <P VAL="101">surprise</P> <P VAL="102">laugh</P> </L> </RULE> </GRAMMAR > Recognition words Add recognition words here : : :

  9. dic/res.txt Response words Name of .csv files Recognition words hello / Hello / 0 angry / Angry / 1 saya / I am saya / 2 laugh / ha ha ha / 3 surprise / wow wow / 4

  10. ex/○○○.csv Channel of air muscle Value of air pressure

  11. Video_Capture Video_Capture Debug Video_Capture.exe ・・・ exe. file winmain.cpp Feature_extraction.cpp RGB_Converter.cpp Serial_Comm.cpp Video_Capture.cpp Feature_extraction.h Parameter.h RGB_Converter.h Serial_Comm.h resource.h Video_Capture.rc

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