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IROS
2009
IEEE

Vision based motion control for a humanoid head

10 years 8 months ago
Vision based motion control for a humanoid head
— This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed and modeled using screw theory. The motion control algorithm is designed to receive, as an input, the output of a vision processing algorithm and to exploit the redundancy of the system for the realization of the movements. This algorithm is designed to enable the head to focus on and to follow a target, showing human-like motions. The performance of the control algorithm has been tested in a simulated environment and, then, experimentally applied to the real humanoid head.
Ludo C. Visser, Raffaella Carloni, Stefano Stramig
Added 24 May 2010
Updated 24 May 2010
Type Conference
Year 2009
Where IROS
Authors Ludo C. Visser, Raffaella Carloni, Stefano Stramigioli
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