No version for distro dashing. Known supported distros are highlighted in the buttons above.

No version for distro crystal. Known supported distros are highlighted in the buttons above.

No version for distro bouncy. Known supported distros are highlighted in the buttons above.

No version for distro melodic. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://gitlab.uni-koblenz.de/robbie/homer_robot_face.git
VCS Type	git
VCS Version	1.0.41
Last Updated	2019-11-28
Dev Status	DEVELOPED
Released	RELEASED

Packages

Name	Version
homer_robot_face	1.0.41

README

homer_robot_face

Robot face

This package contains a robot face as described in the paper "Enhancing Human-Robot Interaction by a Robot Face with Facial Expressions and Synchronized Lip Movements".

Abstact

With service robots becoming increasingly elaborate for higher level tasks, human-robot interaction is moving into the focus of robotic research. In this paper we present an animated robot face as a convenient way of interacting with robots. Our robot face can show 7 different facial expression, thus providing a robot with the ability to express emotions. This capability is crucial for robots to be accepted as everyday companions in domestic environments. Aiming towards a more realistic interaction experience our robot face moves its lips synchronously to the synthesized speech. In a broad user study with 100 subjects we test the emotions conveyed by the robot face. The results indicate that our robot face enhances human robot interaction by providing the robot with the ability to express emotions. The presented robot face is highly customizable. It is available for ROS and can be used with any robot that integrates ROS in its architecture

Instruction

Launch the face node like:

roslaunch homer_robot_face robot_face.launch

For speech synthesis you can use the homer_tts package which contains a collection of different text to speech synthesizers.

Topics

/recognized_speech Shows recognized speech in the bottom of the face to support humans in interacting with the robot.
/robot_face/ImageDisplay An Image can be displayed optionally (this topic awaits a image as message).
/robot_face/ImageFileDisplay Alternatively a filename can be specified.
/robot_face/expected_input An additional text on the bottom of the robot face will be shown. Here you can display instructions depending on the state.
/robot_face/talking_finished When coupled with a TTS system this topic will be sent once the robot finished speaking.
/robot_face/text_out When coupled with a TTS system this topic will be used for synthesizing speech.

If you use this package consider citing:

@article{seib2013enhancing,
  title={Enhancing human-robot interaction by a robot face with facial expressions and synchronized lip movements},
  author={Seib, Victor and Giesen, Julian and Gr{\"u}ntjens, Dominik and Paulus, Dietrich},
  year={2013},
  publisher={V{\'a}clav Skala-UNION Agency}
}

@inproceedings{seib2015team,
  title={Team homer@ unikoblenz—approaches and contributions to the robocup@ home competition},
  author={Seib, Viktor and Manthe, Stephan and Memmesheimer, Raphael and Polster, Florian and Paulus, Dietrich},
  booktitle={Robot Soccer World Cup},
  pages={83--94},
  year={2015},
  organization={Springer}
}

No version for distro ardent. Known supported distros are highlighted in the buttons above.

No version for distro lunar. Known supported distros are highlighted in the buttons above.

No version for distro jade. Known supported distros are highlighted in the buttons above.

Repository Summary

Checkout URI	https://gitlab.uni-koblenz.de/robbie/homer_robot_face.git
VCS Type	git
VCS Version	1.0.7
Last Updated	2016-01-13
Dev Status	DEVELOPED
Released	RELEASED

Packages

Name	Version
robot_face	1.0.7

README

homer_robot_face (indigo) - 1.0.6-0

The packages in the homer_robot_face repository were released into the indigo distro by running /usr/bin/bloom-release --rosdistro indigo --track indigo homer_robot_face on Tue, 12 Jan 2016 12:12:00 -0000