逢甲大學自動控制工程學系碩士班碩士論文

論 

類 

 

Design and Development of Humanoid 

Robot Facial Expression Device 

 

 

年

類 

 

 

兩年論 

見 

論利葉理 

諸 

論 

論更 

 

老數路念 

論林立理理林麟 

 

勵 

若不勵 

讀 

i e-Thesys(93 年度 )

類 

 

論 

CCD PC 

( 怒 ) 

( 例 ) 

了 (1) 路 ARM 理 

精 

LCD 來狀 

(2) 識 

() 鍊來 (3) 

來不 

數類 

便利數識 

數 

(4) 

度 

: 識 

ii e-Thesys(93 年度 )

類 

Abstract 

The purpose of this thesis is primarily focused on the development of a set 

man-machine interface system that combines the machine and a person facial 

expression interaction robot headthis robot head extracts the facial expression 

image of a person to the PC through the CCD camera that can express a person's 

face in timethe facial expression ( include pleasedangrynormal) that represents 

three kinds of affection and can track in person's position in time.( include to 

follow the person's face under swing) 

This system is composed of four major parts(1): The hardware electric 

circuitwe will design a one-degree-of-freedom base consist of one server motor to 

track the facial of personand three LCD displayers which are used to display the 

changes of the eyethe eyebrow and the month(2): in the aspects of pattern 

recognition we propose a method of rapid search ( apply the skin color fixed 

position) that can be used to located face position of the person and use chain code 

method to search eyeeyebrow and the size of mouth shape and position(3): in 

the facial expression algorithm we use the intelligence algorithm to analysis facial 

expressionwe extract 20 feature points from the eyeseyebrows and the mouth 

that are regarded as input variablesand categorize facial expression data in 

advance to make intelligent system control rule databasethen utilize these 

importations the variable to recognize the facial expression that a department 

present finallyat the same time transfer the variables to the controllerliking in 

time to let displayer can show the facial expression that emerge on the person at 

present(4):in display device design we will design a robot face that has one 

rotational degree of freedom 

Keywords:Pattern Recognition Robot facial expression analysis month 

detection eye detection 

iii 

e-Thesys(93 年度 )

類 

錄 

..............................................................................................................................i 

......................................................................................................................ii 

Abstract..................................................................................................................... iii 

錄 ............................................................................................................................iv 

錄 .........................................................................................................................vi 

錄 ...................................................................................................................... viii 

............................................................................................1 

1.1 ...................................................................................................................1 

1.2 ...............................................................................................1 

1.3 參 :.................................3 

1.4 ...........................................................................................................5 

類路 .................................................................................7 

2.1 ARM 路 ................................................................................7 

2.2 ARM 理 ............................................................................................7 

2.3 ARM 理 ........................................................................................8 

2.4 ARM7 理列 .........................................................................................8 

2.5 串列理 ...............................................................................11 

2.6 LCD 理 .......................................................................................13 

2.7 LM629 理 ..........................................................17 

2.8 LMD18200 理 ....................................................18 

2.9 10M/100M 路 .............................................................................22 

理 ..................................................................................23 

3.1 .........................................................................................................24 

3.2 .........................................................................................................24 

3.3 .............................................................................................27 

3.4 .................................................................................................28 

3.4 ...........................................................................29 

3.5 .....................................................................................................30 

3.6 .................................................................................................30 

3.7 Eyebrow Feature ...................................................................31 

3.8 Mouth Feature .......................................................................32 

3.9 ..................................................................................................32 

iv 


類 

3.10 ................................................................................................32 

3.11 ................................................................................................34 

3.12 不 ....................................................35 

零 ...............................................................40 

4.1 .........................................................................................................40 

論來 ..........................................................................................44 

5.1 論 ..................................................................................................................44 

5.2 來 .........................................................................................................44 

參 ....................................................................................................................46 

v 


類 

錄 

2.1 路流 ..................................................7 

2.2S3C4510 UART 連 [25] ......................................................13 

2.3RAM 料 LCD...............................................14 

2.4LCD[26] ....................................................................15 

2.8LM629 [27] .......................................................................17 

2.9LMD18200 路 [28] .....................................................18 

2.10 路 .............................................................................19 

2.11: ARM7 .......................................................................................19 

2.12: 50 度 ..................................................................20 

2.13: 180 度 ................................................................20 

2.14: 60 度 ..................................................................21 

2.15: 120 度 ................................................................21 

2.16ETHERNET SYSTEM FLOW CONTROL[29]..............................................22 

3.1 流 ...........................................................................................23 

3.2 流 .......................................................................................24 

3.4AB 識 .......................................................26 

3.5AB 識 .......................................................27 

3.6AB..............................28 

3.7...........................................................................28 

3.8...........................................................................29 

3.9 流 ................................................29 

3.10BINARY .............................................30 

3.11 拉拉 LAPLACIAN............................30 

3.12 拉拉 LAPLACIAN............................31 

vi e-Thesys(93 年度 )

類 

3.13 拉拉 LAPLACIAN............................31 

3.14.............................................................................32 

3.15.............................................................................33 

3.16.................................................................................34 

3.17 流 .........................................................................35 

3.18FACIAL SENSATION DISTINGUISHES THE POSITION PICTURE OF THE 

PARAMETERS ...............................................................................................................35 

3.19 .............................................................38 

3.20 .............................................................38 

3.21 怒 .............................................................39 

3.22 .............................................................39 

4.1.......................................................................................40 

4.2LCD .......................................................................40 

4.3...........................................................................................41 

4.4...........................................................................................42 

4.5...........................................................................................43 

vii 


類 

錄 

3.1 FACIAL SENSATION PARAMETERS...............................................................36 

3.2 THE PURPOSE OF CHARACTERISTIC CHANGE SITUATION WHICH IS THE 

BASIS THAT IN ORDER TO DISCUSS FACIAL SENSATION...................................................36 

3.3 JUDGING RULE IN FACIAL SENSATION ......................................................37 

viii e-Thesys(93 年度 )

類 

 

1.1 

來 

 

 

便了 

識 

力類行類識 

切率 

便理 

例類精神不 

行車狀 

行例說 

狀更 

索念 

索精度率利 

更 

更更 

1.2 

利益數年來 

年 

SONY 更 

2003 年 9 更 ASIMO 

例更 IBM 7 

ASIMO 

1 


類 

拉類 

離 ASIMO 識 

不量年金六 

ASIMO SONY 

QRIO SONY 2003 年 9 行 QRIO 行 

力不力例若 

QRIO 力理 CPU 

38 更了 QRIO 

識 QRIO 

不來 

 

MIT AI() 1991 年行 ( 

) 不理 

類 

MIT 

兩年兩 

CCD 料 

識類 

5 20 

不 

行度 

來來 

, 

行狀行狀度 

 

 

2 


類 

1.3 參 : 

類不都 

類來參 

了 

[1][2] Honda SONY 兩 

 

來 

[3] MIT 度不 

參 

[4] 利 

利來參 

[5][6] 兩 

來參 

[7] 度 

來鍊 

來 

[8] 來度 [7] 

參 

[9] 來異 

來異來 

參 

[10] 來度 

利兩數來 

異來參 

 

3 


類 

[11] 利度來 

參 

[12] 來利來 

異利來 

[13] 論來 

不 

不來 

李 [14] 論 

立 

參 

[15] 論 

狀來裡 

路來參 

 

祥 [16] 論利來行 

利來來 

立 .. 數利來 

數參 

[17] 論兩 

CMOS Sensor 路 8051 

了 SRAM Control Parallel Port 

HOSTBayer pattern 

edge detectionMotion detection algorithm 

了連不 PC 

來 

[18] 

4 


類 

利來 

參 

李 [19] 利路來 

立路連 

C++ Builder 

Winsock() 來 

林隆 [20] 了 (edge 

image)(grey value) 

烈 (edge) 都利 

來 [5][6] 來 

辰 [21] 輪 

廓行 

不 PC 來 

[22] 

 

參 

[23] [24] 論識參料 

令識 

來 

1.4 

論說了 

類路 S3C4510(ARM7) 理 

LCD RS232Ethernet 路 

理說 

數流 

5 


類 

零論來論參 

6 


類 

類路 

2.1 ARM 路 

類 CCD() PC( 

) 兩 ARM7 ( LCD 

)() 

CCD PC C++ 

BUILDER 來 RS232 ARM 

7 ARM 7 LM629 IC( 來 ) 

LCD ( 來 ) 類路 

流 

RS232 

CCD 

U 

PC 

NET 

ARM7 

Month 

RS232 

NET 

Eyebrow 

Eye 

ARM7 

CONTROLLER 

LM629 SERVER 

MOTOR 

 

2.1 路流 . 

2.2 ARM 理 

ARMAdvanced RISC Machines 爲 

類理爲 

7 


類 

1991 年 ARM 立 

ARM 識産 IP 理說 ARM 

理類産路 

類産 ARM 理了 32 RISC 

理 75 例 ARM 

ARM RISC 爲識産 

不産産 

産 ARM ARM 理 

不領路 ARM 

理都 ARM 

ARM 更 

降産更易更 

力 

2.3 ARM 理 

RISC ARM 理 

1 

2 Thumb16 /ARM32 令 8 /16 

理 

3 量令行度更 

4 數料都 

5 靈行率 

6 令度 

2.4 ARM7 理列 

ARM7 列理爲 32 RISC 理 

類 ARM7 理列 

8 


類 

ICERT 邏便 

産 

0.9MIPS/MHz 

度 16 Thumb 令 

Windows CELinuxPalm OS 

令 ARM9 列 ARM9E 列 ARM10E 列便 

産 

130MIPS 理力數 

ARM7 列理領爲 Internet 路 

數論 Samsung 

S3C4510B 列理 

Samsung S3C4510B 16/32 

RISC ARM 16/32 ARM7TDMI RISC 

理 ARM7TDMI 爲 16/32 

 

了 ARM7TDMI S3C4510B 

— 2 Buffer Descriptor HDLC 

— 2 UART 

— 2 GDMA 

— 2 32 

— 18 I/O 

邏路 

— 

— DRAM/SDRAM 

— ROM/SRAM FLASH 

— 理 

9 


類 

— 32 流 

— 

S3C4510B 

— 

— 16/32 RISC 

— 爲爲 

 

— 率 ARM7TDMI 理 

— JTAG 

— 

理 

— ROM/SRAMFLASHDRAM I/O 8/16/32 

 

— 流 / 流 

— EDO/ SDRAM 

— 0~7 

— 4 讀 

— DMA 

令 / 料 Cache 

— 8K Cache 

— LRC 

— Cache 爲 SRAM 

Ethernet 

— Burst DMA 

— DMA /256 256 

— MAC / FIFO 80 16 

10 


類 

料邏 

— 

— 100M/10Mbps 率 

— IEEE802.3 

— MII 7 10Mbps 

— 理 

— CAM 21 

— 

— / 

— PDA 

UART 

— 2 DMA UART 

— 5678 串列料 

— 串列率 

— 1 2 

— / 

— 

— 

— 16 

— 

2.5 串列理 

串列見離便 

PC 都串列 

S3C4510B UART 兩立串列 I/O Asynchronous 

11 


類 

Serial I/OSIO DMA UART 

DMA CPU 串列 I/O 料 

S3C4510B UART 

串列率 

 

1~2 

567 8 數 

 

串列都立串列率 

串列率理 

MCLK UCLKPin64 

都立料料 

料 

料 UATXDn 料料 

UARXDn 

UART 狀 

UART UART 

料 UART 

UART 

UART MAX232 行連 

DB9 串列 DB9 PC 

串列連來 ARM PC 行串列 

路理 

12 


類 

SHELL 

P9 

5 

9 

4 

8 

3 

7 

2 

6 

1 

U7 

LT1386CS/MAX3232CSE 

C39 

4 

C2+ 

3.3V 

16 

Vcc 

C1+ 

C34 

0.1 uF 

1 

C40 

SHELL 

P10 

SIO-0 

5 

9 

4 

8 

3 

7 

2 

6 

1 

0.1 uF 

C41 

0.1 uF 

5 

14 

13 

7 

8 

2 

C2- C1- 

T1out T1in 

R1in R1out 

T2out T2in 

R2in R2out 

V+ 

15 

GND 

V- 

3 

11 

12 

10 

9 

6 

0.1 uF 

C42 

TXD0 

RXD0 

TXD1 

RXD1 

0.1 uF 

SIO-1 

2.2S3C4510 UART 連 [25] 

2.6 LCD 理 

LCD 理利 

列易不 

列亂 

不 CRT 量 

LCD 兩 

backlight 

LCD LCD 都 

 

不 

 

 

不 

 

13 


類 

數 128×64 

CS=1 

CS=2 

Y= 0 1 2 …. 63 Y= 0 1 2 …. 63 

X=0 D0 D0 D0 . D0 X=0 D0 D0 D0 . D0 

: : : . : : : : . : 

D7 D7 D7 . D7 

D7 D7 D7 . D7 

X=1~6 D0 D0 D0 . D0 X=1~6 D0 D0 D0 . D0 

: : : . : : : : . : 

D7 D7 D7 . D7 

D7 D7 D7 . D7 

X=7 D0 D0 D0 . D0 X=7 D0 D0 D0 . D0 

: : : . : : : : . : 

D7 D7 D7 . D7 

D7 D7 D7 . D7 

2.3RAM 料 LCD 

兩兩 

行讀 CS1CS2 行 8 

行 1 X Y 列料 

CsiXY 

1 0 不行 

行 LCD 1 行行 

行 Z 來 Z 0~63 

行 Z= 56 LCD 5657… 

6263012…5455 

14 


類 

2.4LCD [26] 

2.5ARMLCD 連路 [26] 

15 


類 

2.6LCD 路 

2.7 

16 


類 

2.7 LM629 理 

: 易 PID 精度 

IC LM629 流理令 

例立 

省理理 

: 來 PID 

來 LM629 

S3C4510 KPKIKD 

度度 LM18200 便 

S3C4510 

理 PWM 流 

motion PID controller 路 LM18200 路類 

更精 

路路路 : 路 

說 LM629 數 PID PWM 

CONVERTER 來 : 

32BIT 令 

理 

串列 

ARM7 

 

Σ 

16bit PID 

數濾 

 

LMD18200 

PWM 

 

量 

2.8LM629 [27] 

17 


類 

2.8 LMD18200 理 

: 路 IC 流 ( 來 

力 ) 

: 利路 LMD18200 

H-bridge 

CURRENT SENSE OUTPUT 

流力 

THEMAL FLAG OUTPUT 

度 (5V) 來 IC 

 

THERMAL 

SESING 

UNDERVOLTAGE 

LOCKOUT 

CURRENT 

SENSING 

DVERCURRENT 

INPUT LOGIC 

2.9LMD18200 路 [28] 

18 


類 

2.10 路 

2.11: ARM7 

19 


類 

2.12: 50 度 

2.13: 180 度 

20 


類 

2.14: 60 度 

2.15: 120 度 

21 


類 

2.9 10M/100M 路 

度兩 MAC 

PHYS3C4510B 了 

10M/100Mbps 率 MAC 

IEEE802.3 CSMA/CD 

IEEE802.3 MAC MAC MII 

Media Independent Interface BDIBuffered DMA InterfaceMAC 

令狀 

數 MII 25MHz 100M 率 

2.5MHz 10M 率 

路 DM9161 路離 RJ45 DM9161 

3 狀路狀 

2.16Ethernet System Flow Control[29] 

22 


類 

理 

理 CCD PC PC 

量量 

行來 

參 [24] 來 

LCD 行 

理 ( 

怒 )( 

) 

 

 

() 

CCD Camera 

 

量 

 

 

 

 

( 鍊 ) 

 

 

 

 

 

 

 

來 

 

LCD 

 

 

 

 

 

3.1 流 

23 


類 

3.1 

年來 Color Information 

 

便識識 

來理 3.2 

 

 

 

 

 

 

3.2 流 

3.2 

理 

行不識力 

 

留 RGB 

若 

例了 

RGB 度 

24 


類 

了降 RGB 度 YCbCr 

REC 601-2 CCIR 601 color space 度 

⎡Y 

⎤ ⎡ 

⎢ ⎥ ⎢ 0.3 

⎢ ⎥ ⎢ 

⎢Cb⎥ 

= ⎢− 

0.168 

⎢ ⎥ ⎢ 

⎢ ⎥ ⎢ 0.5 

⎢ 

⎣Cr 

⎥ 

⎦ ⎢⎣ 

0.6 

− 0.331 

− 0.419 

⎤ 

0.1 ⎥ 

⎥ 

0.499 ⎥ 

⎥ 

− 0.081⎥ 

⎥⎦ 

⎡R⎤ 

⎢ ⎥ 

⎢ ⎥ 

⎢G⎥ 

⎢ ⎥ 

⎢ ⎥ 

⎢ 

⎣B⎥ 

⎦ 

 

(3.1) 

Y 亮度 luminanceCb Cr 度 chrominance 

YCbCr 度 3.1.1 

精 

YCbCr 度 Y CbCr 

CbCr 都 Cb Cr 理 [5] 

RCb RCr Cb Cr RCb=[77~127] 

RCr=[133~173] 易識 3.1.2 

3.3Skin colors distribution in YCbCr color space 

25 


類 

. 

3.4ab 識 

了 3.4b 識 [6] YCb 

Cr 都來 Y 亮度了理 

兩 3.23.3 

3.4 

if 

( Y > 128) 

256 − Y 

x1 

= −2 

+ 

16 

256 − Y 

x2 

= 20 − 

16 

 

x3 

= 6 

x4 

= −8 

(3.2) 

if 

( Y ≤ 128) 

x1 

= 6 

(3.3) 

x2 

= 12 

Y 

x3 

= 2 + 

32 

Y 

x4 

= −16 

+ 

16 

 

26 


類 

2( Cb + 24) 

( Cb + 17) 

4( Cb + 32) 

( Cb + x1) 

( x4 

− Cb) 

Cr ≥ − 

Cr ≥ − 

Cr ≥ − 

Cr ≥ 2.5 

Cr ≥ 0.5 

Cr ≥ x3 

220 − Cb 

Cr ≤ 

6 

4 

Cr ≤ 

3 

( x2 

− Cb) 

(3.4) 

了識 3.5 

3.5b 識 3.5b 識 

論 

3.5ab 識 

3.3 

來 

 

3.6a 

3.6b 

27 


類 

3.6ab 

3.4 

來 

來 -20 

20 -75 度 75 度例 

3..75 度 RS232 ARM 

ARM 來 

PID 來 ARM 便 ARM 來 

3.7 

28 


類 

150 度 

3.4 

40cm 

3.8 

行 

3.9 流 

來識類不 

[23] 度 

度識參數 [24] 

 

 

 

立 

參數料 

參數 

3.9 流 

29 


類 

3.5 

 

[7] 來 

[7] 不不理利 

[8] 利鍊 

來數 

3.6 

Binary 臨 

度六 [7] 拉拉 Laplacian 

3.10 3.11 利鍊 

 

3.10Binary 

3.11 拉拉 Laplacian 

鍊拉鍊來 

30 


類 

論 

鍊來 3.12 

Binary 拉拉 Laplacian 

 

 

鍊 


例拉鍊 

 

 

利來參 [7] 

行良度 [7][8] 

( 0.005 sec)[7][8] 

度不易 

(3.13) 


3.7 Eyebrow Feature 

鍊來 

31 


類 

易 . 

3.8 Mouth Feature 

了流利 

 

利 [12] 臨 Adaptive thresholding 來 

臨 Binary 

 

3.9 

若 

理率降了更率 

 

度 

度來 3.14 

3.14 

3.10 

了 Binary 

32 


類 

了 

利 

來臨 Adaptive 

thresholding 來臨 IODintegral 

optical density 來臨 IOD 3.8 

 

IOD = 

∫∫ 

∫∫ 

( x, 

y) 

Y dxdy 

D K dxdy 

D 

(3.8) 

Y K 

( x, y) 

臨 K D 

 

histogram 3.15 若 

20% IOD 

0.2 累數量臨 

 

利 

Histogram of Mouth 

Number of Pixels 

 

 

 

3.15 

利 [9] 來來 

33 


類 

度利兩數來 

利 2 來 

(3.9) 

異來參 

r = R/(R+G+B) g =G / ( R+G+B) b=B/( R+G+B); 

(RG B) PIXEL 

lr = -0.776* r * r+0.5601* r+0.2123; 

fr= -0.776 * r * r + 0.5601* r + 0.1766; 

if (g>fr) and (g20) and (G.>20) and (B>20) 

get lip pixel 

else 

other pixel 

(3.9) 

利 [10] 來異 

來異來 

(3.10) 

h= R / ( R+G);l=0.3 * R+0.59* G+0.11* B 

rc = R / (R+(b-a)*l+a) gc= G/ (G+(b-a)*l+a) bc= B / (B+(b-a)*l+a); 

(ab)=(0.40.8) 

k=(h-minh)/(maxh-minh); 

P1(x)=-la*kP1(y)=bc+lb*kP2(x)=0P2(y)=gcP3(x)=1 

P3(y)=-lr* ;(lalblr)=(0.40.40.2) 

(3.10) 

if ( k is high) and ( bc is close to gc) and P1P2P3 parabola is high 

get lip pixel 

else 

get other pixel 

3.16 利 

3.11 

3.16 

了參數怒樂 

34 


類 

 

 

 

 

 

 

 

 

 

3.17 流 

參數立料 3.17 

流料 

Brows_D 

BE_Lo 

LEye_H 

BE_Li 

BE_Ri 

Reye_H 

BE_Ro 

Left_D 

Right_D 

Lip_H 

Lip_W 

3.18Facial sensation distinguishes the position picture of the parameters 

3.12 不 

不參數怒樂 

 

來參了 [24] 來 

利 3.13.2 3.3 怒 

樂 

35 


類 

Facial sensation parameters 

Parameters 

Brows_D(D) 

BE_LO(LO) 

BE_LI(LI) 

BE_RO(RO) 

BE_RI(RI) 

Eye_H(EH) 

Lip_W(LW) 

Lip_H(LH) 

Left_D(LD) 

Right_D(RD) 

Description 

Distance 

between sides of eyebrows. 

Distance between the left eyebrow angle and left outside of canthus. 

Distance between the left eyebrow angle and left inside of canthus. 

Distance between the right eyebrow angle and right outside of canthus. 

Distance between the right eyebrow angle and right inside of canthus. 

Average height of the eyes 

Width of lip. 

Height of lip. 

Distance between left corner of the mouth and left canthus. 

Distance between right corner of the mouth and right canthus. 

The purpose of characteristic change situation which is the basis that in 

order to discuss facial sensation 

D − D 

BrowsD = 

D 

neutral 

neutral 

If Brows_D < 0 then distance of eyebrow is 

reduced else is increase 

LO − LO 

BELO = 

LO 

neutral 

neutral 

If BE_LO > 0 then the eyebrow angle rises 

outside the left eyebrow else is reduced 

LI − LI 

BELI = 

LI 

neutral 

neutral 

If BE_LI > 0 then the eyebrow angle rises 

inside the left eyebrow else is reduced 

RO − RO 

BERO = 

RO 

neutral 

neutral 

If BE_RO > 0 then the eyebrow angle rises 

outside the right eyebrow else is reduced 

RI − RI 

BERI = 

RI 

neutral 

neutral 

If BE_RI > 0 then the eyebrow angle rises 

inside the right eyebrow else is reduced 

The parameters of Dneutral and D 

are representing expression changing 

before and after. 

The parameters of LOneutral and LO 



The parameters of LIneutral and LI 



The parameters of ROneutral and RO 



The parameters of RIneutral and RI 



36 


類 

( LEH + REH ) − ( LEH + REH) 

EyeH = 

( LEH + REH) 

neutral 

neutral 

If Eye_H > 0 then height of the eye is 

increase else is reduced 

LW − LW 

LipW = 

LW 

neutral 

neutral 

If Lip_W > 0 then width of the lip is increase 

LH − LH 

LipH = 

LH 

neutral 

neutral 

If Lip_H > 0 then height of the lip is 

increase 

LD − LD 

LeftD = 

LD 

neutral 

neutral 

If Lefts_D < 0 then the left corner of the mouth 

rises else is reduced 

The parameters of 

(LEH+REH)neutral and (LEH+REH) 

are represent expression changing 


The parameters of LWneutral and 

LW are representing expression 

changing before and after. 

The parameters of LHneutral and LH 



The parameters of LDneutral and LD 



RD − RD 

RightD = 

RD 

neutral 

neutral 

If Right_D < 0 then the right corner of the 

mouth rises else is reduced 

The parameters of RDneutral and RD 



不不參數 

怒樂 Table 3.3 來識怒 

樂 

Judging rule in facial sensation 

Facial Sensation 

Happy Angry Sadness Glad 

different emotion 

expression parameters 

BrowsD < 0 < 0 < 0 > 0 

BELO = 0 < 0 = 0 = 0 

BELI < 0 < 0 < 0 > 0 

BERO = 0 < 0 = 0 = 0 

BERI < 0 < 0 < 0 > 0 

EyeH < 0 < 0 = 0 > 0 

LipW > 0 < 0 = 0 > 0 

LipH > 0 < 0 = 0 > 0 

LeftD > 0 < 0 = 0 > 0 

RightD > 0 < 0 = 0 > 0 

37 


類 

3.19 

3.20 

38 


類 

3.21 怒 

3.22 

39 


類 

零 

 

力 27cm 

*22.5*5cm 4.1 LCG 

LCG 

128*64 

LCG 

128*64 

LCG 

128*64 

4.1 

LCG 9.3CM *7CM*1.6CM 4.2~4.4 

4.2LCD 

40 


類 

4.3 

41 


類 

4.4 

42 


類 

4.5 

43 


類 

論來 

5.1 論 

TCP/IPRS232 

uClinuxS3C4510 

LCG 

行 

 

行識 

來 RS232 

ARM 利 ARM 理 LCG 

 

類 

利 LCD 來 

來 LCD 

來 

5.2 來 

 

1. 理 

論 VHWC 料 

度 640*480(30) 

1280*960130camera 來 

DirectShow 來 DirectShow 

Visual C++Borland C++ Builder 

1280*960130camera 來更 

 

44 


類 

2. 

1µ m 利 

KPKIKD 參數來利 Self-tuning 來 KP 

KIKD 參數 

3. 

來 

 

45 


類 

參 

[1]http://www.honda.co.jp/ASIMO/ 

[2]http://www.sony.net/SonyInfo/QRIO/top.html 

[3]http://www.ai.mit.edu/projects/humanoid-robotics-group/kismet 

[4]Y. C. Wu; N. H. Hsieh; Z. R. Chen, “The application of intelligent algorithm 

principle on robot exercise”, 2003 IEEE/ASME International Conference on 

Robot, vol.1, pp. 371 -376, July. 2003 

[5]G. Christophe and T. Georgios, “Face detection using quantized skin color regions 

merging and wavelet packet analysis”, IEEE Trans. Multimedia, vol. 1, No. 3, pp. 

264-277. , Sept. 1999 

[6] P. S. Lai and H. C. Fu, “Dynamic facial color based face detection and rotation 

estimation”, Department of Computer Science and Information Engineering, 

National Chiao-Tung University 

[7] K. M, L. Hong, Yan , “Locating and extracting the eye in human face images” , 

Pattern Recognition, vol.29, issue 5, pp. 771-779, May.1996 

[8] G.C. Feng, P.C. Yuen, “ Variance projection function and its application to eye 

detection for human face recognition”, Pattern Recognition Letters, vol.19, issue 

9, pp. 899-906, July.1998 

[9]Chiang, Cheng-Chin; Tai, Wen-Kai; Yang, Mau-Tsuen; Huang, Yi-Ting; Huang, 

Chi-Jaung , “ A novel method for detecting lips, eyes and faces in real time”, 

Pattern Recognition Letters, vol. 9, issue 5, pp. 229-287, August. 2003 

[10]Eveno, N. Caplier, A. Coulon, P.-Y , “New color transformation for lips 

Mentation Multimedia Signal Processing”, IEEE Fourth Workshop on ,pp. 3 –8 , 

October. 2001 

[11] P. K. Allen, A. Timcenko, B. Yoshimi and P. Michelman, “Automated tracking 

46 


類 

and grasping of a moving object with a robotic hand-eye system”, IEEE 

Trans.Robot. Automat., vol. 9, no. 2, pp. 152-165, April. 1993. 

[12] J. H. Lai, P. C. Yuen, W. S. Chen, S. Lao, and M. Kawade, “Robust facial 

feature point detection under nonlinear illuminations”, IEEE ICCV Workshop 

on Recognition, Analysis, and Tracking of Faces and Gestures in Real-Time 

Systems, pp. 168-174, 2001 

[13]“” 立 

88 論 

[14] 李 “:” 91 

論 

[15]“” 立 

90 論 

[16] 祥 “ 行 ” 立 

91 論 

[17]“ FPGA ” 立 

91 論 

[18]“” 立 91 

論 

[19] 李 “ 利 ” 立 

91 論 

[20] 林隆 “” 立 

91 論 

[21] 辰 “” 立 

91 論 

[22]“” 

90 論 . 

47 


類 

[23] R. Chellappa, C. L.Wilson, and S. Sirohey, “Human and machine recognition 

of facesA survey,” Proceeding of the 

IEEE, May. 1995, vol.83, No. 5, pp. 

705-740. 

[24] T. Ying-li, K. Takeo, and F. Jeffrey, “Recognizing action units for facial 

expression analysis,” IEEE Transaction on Pattern analysis and machine 

intelligence, Feb. 2001, vol. 23, No. 2, pp. 97-115. 

[25] http://focus.ti.com/lit/ds/symlink/max232.pdf 

[26]http://www.powertip.com.tw/product/PG%20SERIES/PG%2012864-I.PDF 

[27]http://www.national.com/JPN/ds/LM/LM629.pdf 

[28]http://www.national.com/pf/LM/LMD18200.html 

[29] 

[29]http://www.samsung.com/Products/Semiconductor/SystemLSI/Networks/Persona 

lNTASSP/CommunicationProcessor/S3C4510B/um_s3c4510b_rev1.pdf 

48

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