IBM - CVUT Student Research Projects Robotic Head with Mimic Facial Movements Jan Kofroň

IBM - CVUT Student Research Projects 2 Guidelines Design and realize mechanical and electronical part of robotic head Design API for client computer application Create simple demonstrating application –Cooperate with Talking Head project

IBM - CVUT Student Research Projects 3 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 4 Winter semester results (mechanical part) Eye movements –Horizontal direction –Vertical direction Mouth opening Head horizontal rotation

IBM - CVUT Student Research Projects 5 Winter semester results (electronic part) ATmega32 microcontroller (design board) –servo control (up to 8 servos) –stepper motor control Communication via RS232 with client app –Simple command protocol

IBM - CVUT Student Research Projects 6 Current version add-ons (mechanical part) Modeled head standing on feet –polystyrene basis and gypsum cover Moveable –mouth, eyelids, eyebrows, cheeks

IBM - CVUT Student Research Projects 7 Current version add-ons (electronic part I) Own PCB design USB hub connecting –2 USB web cameras –USB soundcard –microcontroller USB soundcard with speaker –speech synthesis output

IBM - CVUT Student Research Projects 8 Current version add-ons (electronic part II) AT90USB1287 controlling –up to 16 servos –stepper motor –capacitive triggers (touch sensitivity) Communication between microcontroller and client app via USB –USBlib, command and event based protocol

IBM - CVUT Student Research Projects 9 Current version add-ons (software part) Movement library –point tracking (used for head tracking) User head tracking –based on OpenCV example

IBM - CVUT Student Research Projects 10 Conclusion Project add-ons experiences –Schematic drawing and PCB design –Atmel USB stack usage –OpenCV usage