This is faces that I have drawn as an illustration for the robot Baxter, at Halmstad University. Combined, with this face (which can be described as a normal facial expression), I have also made one angry, one happy and one surprised facial expression. I have also made one that can be used when Baxter speakes.

They are drawn in Illustrator, and afterwards an animation has been added, for a smooth transition between them. The different facial expressions is used and exchanged between them, depending on external events and Baxter’s internal feelings.


Center for Applied Intelligent Systems Research at the Academy of Information Technology, at Halmstad University.