Currently, service robots play an increasingly significant role in human-computer interaction, and have their intelligent, humanized, emotional, and expressive capabilities have constantly improved. Eye movement is essential for humanoid service robot facial expression, which may significantly improve human-computer connection. This project aims to create bionic robot eyes powered by novel bubble artificial muscles (BAMs), resulting in low-cost and straightforward robot eyes with horizontal, vertical, and mixed ocular movement capabilities. By adjusting the air pressure input to the BAMs, an antagonistic mechanism composed of a BAM and a tension spring is meant to move an eyeball horizontally or vertically. The results of an experiment reveal that humanoid robot eyeballs can imitate human eye movement. This research will contribute to the development of a low-weight, low-cost humanoid service robot eyeball drive system that can realise the expression of robot facial expression by controlling the movement of robot eyeball, thereby enabling humanoid servers to effectively express their feelings and emotions in accordance with human needs and enhancing user interaction.