Design and control of the Twente humanoid head


Visser, L.C. and Carloni, R. and Stramigioli, S. (2009) Design and control of the Twente humanoid head. In: 2nd Workshop on Human Friendly Robotics, 3 Dec 2009, Sestri Levante, Italy.

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Abstract:The Twente humanoid head features a four degree of freedom neck and two eyes that are implemented by using cameras. The cameras tilt on a common axis, but can rotate sideways independently, thus implementing another three degrees of freedom. A vision processing algorithm has been developed that selects interesting targets in the camera images. The image coordinates of the selected target are provided to a motion control algorithm, which controls the head to look at the target. The degrees of freedom and redundancy of the system are controlled such that natural human-like motions are obtained. The head is capable of showing expressions through mouth and eyebrows by means of light projection from the inside part of the exterior shell.
Item Type:Conference or Workshop Item
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Electrical Engineering, Mathematics and Computer Science (EEMCS)
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