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: Contribution to conferencePaperpeer-review

4 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 head-eye robot with 2 D.O.F eyes and a 4 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
Publication statusPublished - 1997 Dec 1
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

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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