Humanoid Head Prototype with Uncoupled Eyes and Vestibular Sensors

Author

Ouezdou, F.B. ; Alfayad, S. ; Pirim, P. ; Barthelemy, S.

Author_Institution

LISV, Universite de Versailles Saint Quentin, Velizy

fYear

2006

fDate

9-15 Oct. 2006

Firstpage

2980

Lastpage

2985

Abstract

This paper deals with the biomimetic design of a humanoid head prototype. This prototype is developed in order to offer some mechanical device for multimodality objectives, and to demonstrate the importance of uncoupled eyes mechanism in humanoid head function. Indeed, the prototype development is based on our understanding of the humans head properties in the filed of visual and vestibular capabilities. The final prototype will have 3 DOF for each eye and 2 DOF for the neck. The developed device based as on one dof for each eye and one dof for the neck is able to show the vestibular ocular reflex (VOR) and the target tracking (TT) in real time. To carry out all these capabilities, a generic visual perception processor is developed and used. The first experiments on 3 DOF mechanism are given

Keywords

humanoid robots; robot dynamics; robot vision; sensors; biomimetic design; generic visual perception processor; humanoid head prototype; multimodality objectives; target tracking; uncoupled eyes mechanism; vestibular ocular reflex; vestibular sensors; Biomimetics; Biosensors; Eyes; Humanoid robots; Humans; Mechanical sensors; Prototypes; Sensor systems; Target tracking; Visual perception; Humanoid Robot; Mechanical Design; Target tracking; Vestibular Ocular Reflex;

fLanguage

English

Publisher

ieee

Conference_Titel

Intelligent Robots and Systems, 2006 IEEE/RSJ International Conference on

Conference_Location

Beijing

Print_ISBN

1-4244-0258-1

Electronic_ISBN

1-4244-0259-X

Type

conf

DOI

10.1109/IROS.2006.282231

Filename

4058849