Development of an anthropomorphic head-eye robot with two eyes-coordinated head-eye motion and pursuing motion in the depth direction
Development of an anthropomorphic head-eye robot with two eyes-coordinated head-eye motion and pursuing motion in the depth direction
复制标题
开发具有两眼协调头眼运动并在深度方向上追踪运动的拟人头眼机器人
DOI：
10.1109/iros.1997.655102
复制
发表时间：
1997
期刊：
影响因子：
--
通讯作者：
I. Kato
中科院分区：
文献类型：
--
作者：
A. Takanishi;T. Matsuno;I. Kato
在这项研究中，作者正在开发拟人化的头眼机器人，以便从工程角度阐明人类视觉系统，并开发一种与人类的新通信系统。我们开发了一种具有 2 自由度眼睛和 4 自由度头部旋转机构的拟人头眼机器人 WE-3（早稻田眼 3 号），它包含我们在早稻田大学“类人项目”中开发的拟人机器人“Hadaly-2”的子系统。由于相机驱动机构需要重量轻且不受间隙影响，因此眼球部分采用了腱驱动万向节机构。除偏航轴外的颈部部分也由腱驱动机构驱动。在这个实验中，目标是一个电灯泡。头眼机器人WE-3实现了与人类VOR（前庭眼反射）协调的头眼运动，并利用会聚角在深度方向上追踪运动，速度与人类相同。
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-DOF eyes and a 4-DOF head rotation mechanism, WE-3 (Waseda Eye No.3), that comprises a subsystem of an anthropomorphic robot 'Hadaly-2' which we are developing in 'Humanoid Project' at Waseda University. Since the camera drive mechanism need 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 VOR (vestibulo-ocular reflex) of human, and pursuing motion in the depth direction using the angle of convergence, with the same speed as humans.