Title :
MAC-EYE: a tendon driven fully embedded robot eye
Author :
Biamino, Dario ; Cannata, Giorgio ; Maggiali, Marco ; Piazza, Alessandro
Author_Institution :
Dept. of Commun., Comput. & Syst. Sci., Genova Univ.
Abstract :
This paper presents a new tendon driven robotic eye. The system has been designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. The system consists of a sphere (the eye-ball), actuated by four independent tendons driven by four DC motors, integrated in the system. The eye-ball hosts a miniature CMOS color camera and is hold by a low friction support allowing three rotational degrees of freedom. Optical sensors provide feedback to control the correct tendons´ tensions during operations. The control of the eye is performed by means of an embedded controller connected to a host computer using CAN bus
Keywords :
CMOS image sensors; artificial organs; control engineering computing; eye; field buses; optical sensors; robot kinematics; CAN bus; CMOS color camera; MAC-EYE; optical sensors; tendon driven embedded robot eye; CMOS image sensors; Cameras; DC motors; Eyes; Friction; Humans; Optical feedback; Optical sensors; Robot vision systems; Tendons;
Conference_Titel :
Humanoid Robots, 2005 5th IEEE-RAS International Conference on
Conference_Location :
Tsukuba
Print_ISBN :
0-7803-9320-1
DOI :
10.1109/ICHR.2005.1573546
