An affordable, 3D-printable camera eye with two active degrees of freedom for an anthropomorphic robot

Movable cameras, or robotic eyes, have been of longstanding interest in robotics, but it remains challenging to achieve the various desirable characteristics (such as fast, small, robust, good-looking, etc.) at the same time. We consider robotic eyes targeted at interactive humanoid robots, and present a novel construction that provides human-level accelerations and velocities in a robust way, while its appearance avoids the uncanny valley effect by hiding all mechanics.