Table 1.
Comparison of different robotic heads in the literature (Ant–anthropomorphic; Tech–technomorphic; Zoo–Zoomorphic). FACS, Facial Action Coding System.
| Robotic Head | WE-4RII | ROMAN | SAYA | KHH | BARTHOC | iCub | iCat |
|---|---|---|---|---|---|---|---|
| Neck DoF | 4 | 4 | 3 | 4 | 4 | 3 | 2 |
| Eyebrow DoF | 8 | 2 | no | no | 2 | LED | 2 |
| Eye DoF | 3 | 2 | 2 | 3 | 3 | 3 | 0 |
| Mouth DOF | 5 | 1 | 1 | no | 3 | LED | 5 |
| FACS | yes | yes | yes | no | yes | no | no |
| Stereo Vision | yes | yes | no | yes | yes | yes | no |
| Stereo Audio | yes | no | yes | yes | no | yes | yes |
| RGBD Sensor | no | no | no | no | no | no | no |
| Inertial Sensor | yes | yes | yes | yes | no | yes | no |
| Appearance | Ant. | Ant. | Ant. | Tech. | Ant. | Ant. | Zoo. |