Abstract
The purpose of this study is equipping small non-verbal communication units for education humanoid robot. "nikotto" In general electric motor, hydraulic cylinder and air cylinder and adapted to the actuator for humanoid. However, this robot has no large space and power. In addition, end-effector will have a lot of function.So we can't use there aduatars. Therefore we suggest that use a shape memory alloy (SMA) which has smooth movement and quietness, high power weight ratio. Moreover, we developed a facial expression devices and survey of impression for this devices. The result of survey is generally fine In conclusion, communication ability is progressing by those devices.
