As can be seen in figure 
the first prototype was a bit
'chubby'. With the second prototype we managed to build a flatter and
more simple model otherwise along the same principles of motion as the
first one - it is controlled by pretty much the same programme. The
reason for this need of a slim figure was that the idea dawned on us
that it might be interesting to put the face on a moving robot instead
of having a static model. The face would then be interpreted as a
natural part of the robot's anatomy showing the robot's feelings.
Figure: Second prototype was a much more simple design resulting in a very flat model.
Figure: Two rotating joints determine the curve of the mouth.
This time the mouth motion is done with only two rotating joints thus
eliminating the upwards/downwards directed movement (figure
). Furthermore, the eyes are special rounded bricks that
have rotatable lights in them.
However, since it became apparent that two motors and two angle sensors is a high price to pay considering that only one free output and input would remain on the Pbrick, we soon directed our attention to designing a completely different model using only one motor and no sensors.
Figure: Second prototype seen from behind. The chains are for
synchronizing the lighting eye rotations with the eyebrows.