Humanoid Robot Head Design Based on Uncanny Valley and FACS

Table 2

Action unit of robot head.

Action part	Action unit	Control point
Eyeball	Eye turn left or right, up or down	CP3, CP14, CP15
Eyelid	Upper or lower	CP1, CP2
Eyebrow	Brow pull down	CP7, CP8, CP9, CP10
Mandible	Open or shut mouth	CP12, CP13
Mouth	Mouth oblique pull	CP5, CP6
Neck	Nod or shake head	CP4, CP11