Humanoid Head Prototype with Uncoupled Eyes and Vestibular Sensors

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