Vision based motion control for a humanoid head


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Visser, L.C. and Carloni, R. and Stramigioli, S. (2009) Vision based motion control for a humanoid head. In: RSJ/IEEE International Conference on Intelligent Robots and Systems, 2009, 10-15 Oct 2009, Saint Louis, Missouri, USA.

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Abstract: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.
Item Type:Conference or Workshop Item
Copyright:© 2009 IEEE
Faculty:
Electrical Engineering, Mathematics and Computer Science (EEMCS)
Research Group:
Link to this item:http://purl.utwente.nl/publications/69033
Official URL:http://dx.doi.org/10.1109/IROS.2009.5353914
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