Lin C.-Y.Tseng C.-K.Teng W.-C.Lee W.-C.Kuo C.-H.Gu H.-Y.Chung K.-L.Fahn C.-S.CHUNG-HSIEN KUO2022-05-242022-05-242009https://www.scopus.com/inward/record.uri?eid=2-s2.0-70449361905&partnerID=40&md5=724a0f4c7f427ec5c0c886f044a40108https://scholars.lib.ntu.edu.tw/handle/123456789/611610This paper aims to report on the technical development and the realization of the world first robot theatre performance with a cast comprising two biped androids and two twin-wheeled two-armed humanoid robots. Each of the biped androids has a head with human-face, capable of showing multiple facial expressions, and a pair of 7 DOF arms with a multi-jointed hand capable of grabbing objects of various shapes and performing a number of trained talent shows. With a torso and two jointed legs, the android is capable of static walking. Each of two dual wheeled humanoid robots has a pair of 7 DOF arms and multi-jointed hands. These intelligent robots have advanced artificial intelligence including computer vision, voice recognition, and voice synthesis, and are capable of performing a number of entertaining programs on the stage.Facial ExpressionsHumanoid robotTechnical developmentVoice recognitionVoice synthesisComputer visionRoboticsAnthropomorphic robotsconference paper2-s2.0-70449361905