Modeling humanoid robots facial expressions using Pythagorean fuzzy sets

Kahraman C., Bolturk E., Çevik Onar S., Öztayşi B.

JOURNAL OF INTELLIGENT & FUZZY SYSTEMS, vol.39, no.5, pp.6507-6515, 2020 (SCI-Expanded) identifier identifier

  • Publication Type: Article / Article
  • Volume: 39 Issue: 5
  • Publication Date: 2020
  • Doi Number: 10.3233/jifs-189114
  • Journal Indexes: Science Citation Index Expanded (SCI-EXPANDED), Scopus, Academic Search Premier, Aerospace Database, Applied Science & Technology Source, Business Source Elite, Business Source Premier, Communication Abstracts, Compendex, Computer & Applied Sciences, INSPEC, Metadex, zbMATH, Civil Engineering Abstracts
  • Page Numbers: pp.6507-6515
  • Istanbul Technical University Affiliated: Yes


Pythagorean fuzzy sets (PFS) are an extension of intuitionistic fuzzy sets introduced by Atanassov [1]. PFSs have the advantage of providing larger domains for assigning membership and non-membership degrees satisfying that their squared sum is at most equal to one. PFS have been often used in modeling the problems under vagueness and impreciseness in order to better define the problems together with the hesitancy of decision makers. Different human emotions and behaviors can be modeled in humanoid robots (HR) by fuzzy sets. In this paper, facial expressions of a humanoid robot are modeled depending on the degrees of the emotions. Larger degree of emotion causes a stronger indicator of the facial mimic.