抄録
In remote communication, a motion display that operates a display like a movement of a human head is one way to improve presence. The movement of the head of a human is calculated by OpenFace which is a face behavior analysis tool by image processing, and a system which controls expression of the head motion using the robot arm was constructed. However, in telecommunications, communication partners and robots are not in the same place as in a stand-alone configuration. Therefore, networking using remote communication technology is required. The system was networked by dividing the standalone configuration into three parts, the input part, the processing part, and the output part, and connecting them by a network. In networking, using the video streaming software using the HTTP protocol for input to the processing unit, the transmission of the orientation information of the head to the output unit for controlling the robot arm is carried out by message transmission software using the MQTT protocol. The robot was operated using the created system, and the robot's motion and human motion were simultaneously measured, and the difference in operation between the stand-alone configuration and the network configuration was measured. And the evaluation of the human reaction when presenting the motion of the robot by this system was done. Human response to robot motion was evaluated by measurement of subject's gaze. In the standalone configuration and network configuration using HTTP and MQTT, the gazing point follows the motion of the robot.
