Recently a social robot for daily life activities is becoming more common. To this end a humanoid robot with realistic facial expression is a strong candidate for common chores. In this paper, the development of a humanoid face mechanism with a simplified system complexity to generate human like facial expression is presented. The distinctive feature of this face robot is the use of significantly fewer actuators. Only three servo motors for facial expressions and five for the rest of the head motions have been used. This leads to effectively low energy consumption, making it suitable for applications such as mobile humanoid robots. Moreover, the modular design makes it possible to have as many face appearances as needed on one structure. The mechanism allows expansion to generate more expressions without addition or alteration of components. The robot is also equipped with an audio system and camera inside each eyeball, consequently hearing and vision sensibility are utilized in localization, communication and enhancement of expression exposition processes.

This work presents multi-functional robot arm gripper design along with vision and tactile sensor for efficient grasping and manipulation tasks. The design emulates human’s hand fingers structure using linkages and direct drive through slider-crank mechanism transmission. The structural elements are optimized for a finest performance in motion and force transmissibility of the gripper fingers. The main future of this design is its reliability to grasp and manipulate unknown object while its system complexity is reduced. The gripper has a tool change fixture incorporated into its palm, which will reduce time wastage and do assembling in one go. The gripper is equipped with two cameras in its palm; subsequently it will efficiently seek the target object and perform its prehensile task with intelligently determined grasping force.