Humanoid expression robot with emotion is as one of hot topics in robot rsearch. To this area,summarization was given. First,after pectination of the road of research on emotional humanoid expression robot, related theories and technologies of representative robot were summarized synoptically. In additon, their system construction, mechanical structure, sensors,controlling system and another features were compared and analyzed. Second, theories and technologies to this area, such as facial action coding system, artificial psychology and artificial emotion, sensoring technlogy,image processing,voice recognization and synthesis were expounded in detail. Based on these, some future research directions to several existing problems were proposed. Lastly, developing of humanoid expression robot with emotion was forecasted.%具有情感的类人表情机器人是机器人研究领域中的热点问题之一.对这方面的研究现状进行了综述.首先,梳理了国内外具有情感的类人表情机器人的研究之路,概括性地总结了具有代表性的表情机器人涉及的相关理论与技术,并对比分析了其系统构成、机械结构、传感系统、控制系统和特性;其次,详细阐述了该领域所涉及的理论与技术,包括面部编码系统理论、人工心理与人工情感理论、传感技术、图像处理技术以及语音识别与表达技术,继而针对该领域研究中存在的问题讨论了进一步的研究方向;最后,对该领域未来的发展进行了展望.
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