Designing a miniature wearable visual robot

Author

Mayol, W.W. ; Tordoff, B.J. ; Murray, D.W.

Author_Institution

Dept. of Eng. Sci., Oxford Univ., UK

Volume

4

fYear

2002

fDate

2002

Firstpage

3725

Abstract

We report on two methods we have developed to aid in the design of a wearable visual robot-a body mounted robot for which the main sensor is a camera. Specifically, we have first refined the analysis of sensor placement through the computation of the field of view and body motion using a 3D model of the human form. Second we have improved the design of the robot´s morphology with the help of an optimization algorithm based on the Pareto front, within constraints set by the overall choice of robot kinematic chain and the need to specify obtainable actuators and sensors. The methods could be of use for the design and performance evaluation of rather different kinds of wearable robots and devices.

Keywords

image sensors; robot kinematics; robot vision; Pareto front; body mounted robot; camera; miniature wearable visual robot; optimization algorithm; robot kinematic chain; sensor placement; Algorithm design and analysis; Biological system modeling; Cameras; Constraint optimization; Humans; Morphology; Motion analysis; Robot sensing systems; Robot vision systems; Wearable sensors;

fLanguage

English

Publisher

ieee

Conference_Titel

Robotics and Automation, 2002. Proceedings. ICRA '02. IEEE International Conference on

Print_ISBN

0-7803-7272-7

Type

conf

DOI

10.1109/ROBOT.2002.1014288

Filename

1014288