Development of an anthropomorphic head-eye robot with two eyes - coordinated head-eye motion and pursuing motion in the depth direction

Atsuo Takanishi, Tadao Matsuno, Isao Kato

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    20 Citations (Scopus)

    Abstract

    In this study, the authors are developing anthropomorphic head-eye robots, in order to elucidate the human vision system from an engineering point of view, and to develop a new communication system with humans. We have developed an anthropomorphic headeye robot with two D.O.F eyes and a four D.O.F head rotation mechanism, WE-3(Waseda Eye No. 3), that comprises a subsystem of an anthropomorphic robot `Hadaly-2' which we are developing on `Humanoid Project' at Waseda University. Since the camera drive mechanism needs light-weight and immune to backlashes, the eyeball part uses a tendon-driven gimbal mechanism. The neck part except yaw axis is also driven by tendon-driven mechanism. In this experiment, the target is a electric light bulb. The head-eye robot, WE-3 has realized coordinated head-eye motion with V.O.R (Vestiburo-Ocular Reflex) of human, and pursuing motion in the depth direction using the angle of convergence, with the same speed as humans.

    Original languageEnglish
    Title of host publicationIEEE International Conference on Intelligent Robots and Systems
    Editors Anon
    Place of PublicationPiscataway, NJ, United States
    PublisherIEEE
    Pages799-804
    Number of pages6
    Volume2
    Publication statusPublished - 1997
    EventProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3) - Grenoble, Fr
    Duration: 1998 Sep 71998 Sep 11

    Other

    OtherProceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3)
    CityGrenoble, Fr
    Period98/9/798/9/11

    Fingerprint

    Anthropomorphic robots
    Tendons
    Robots
    Communication systems
    Cameras
    Experiments

    ASJC Scopus subject areas

    • Control and Systems Engineering

    Cite this

    Takanishi, A., Matsuno, T., & Kato, I. (1997). Development of an anthropomorphic head-eye robot with two eyes - coordinated head-eye motion and pursuing motion in the depth direction. In Anon (Ed.), IEEE International Conference on Intelligent Robots and Systems (Vol. 2, pp. 799-804). Piscataway, NJ, United States: IEEE.

    Development of an anthropomorphic head-eye robot with two eyes - coordinated head-eye motion and pursuing motion in the depth direction. / Takanishi, Atsuo; Matsuno, Tadao; Kato, Isao.

    IEEE International Conference on Intelligent Robots and Systems. ed. / Anon. Vol. 2 Piscataway, NJ, United States : IEEE, 1997. p. 799-804.

    Research output: Chapter in Book/Report/Conference proceedingConference contribution

    Takanishi, A, Matsuno, T & Kato, I 1997, Development of an anthropomorphic head-eye robot with two eyes - coordinated head-eye motion and pursuing motion in the depth direction. in Anon (ed.), IEEE International Conference on Intelligent Robots and Systems. vol. 2, IEEE, Piscataway, NJ, United States, pp. 799-804, Proceedings of the 1997 IEEE/RSJ International Conference on Intelligent Robot and Systems. Part 2 (of 3), Grenoble, Fr, 98/9/7.
    Takanishi A, Matsuno T, Kato I. Development of an anthropomorphic head-eye robot with two eyes - coordinated head-eye motion and pursuing motion in the depth direction. In Anon, editor, IEEE International Conference on Intelligent Robots and Systems. Vol. 2. Piscataway, NJ, United States: IEEE. 1997. p. 799-804
    Takanishi, Atsuo ; Matsuno, Tadao ; Kato, Isao. / Development of an anthropomorphic head-eye robot with two eyes - coordinated head-eye motion and pursuing motion in the depth direction. IEEE International Conference on Intelligent Robots and Systems. editor / Anon. Vol. 2 Piscataway, NJ, United States : IEEE, 1997. pp. 799-804
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