Robotic Information System (RIS): Design of Humanoid Robot’s Head Based on Human Biomechanics

Abstract

Robotic Information System (RIS) is a new information system architecture that provides data, information processing and services for users in a wide geographical space based on intelligent robots. The front end of the RIS is a humanoid robot head that interacts with users by different means to provide different services. Developing a robot which is similar to a human shape, function and socially accepted by human beings was and is still a challenging subject. Arslan is a new humanoid robot head that has been designed to be close to real human skeletal structure, where its physical structure is designed to be identical to the real human skull, jaw and the nick vertebrae. In order to develop a high-quality and low-cost system, Arslan has a smart mechanism that is controlled by 16 servo motors in order to control its nick, jaw, eyes and facial expression, which have been located according to analysis of human biomechanics. Arslan’s nick mechanism allows one side axial rotation of 41° and flexion/extension of 45°, mandible rotation around the hinge axis of 6 degrees, its eyes can rotate around their axis of motion with Adduction 19°, Abduction 34°, Supraduction (elevation) 0° and Infraduction (depression) 20°. The distance between the upper and the lower eyelid of Arslan can range from 0 up to 17 mm to cover different expressions. Also, it is equipped with devices for motion, vision, audition, smelling, and speech. It also can recognize its head tilting and is capable of maintaining its eyes' direction constantly during head motion.