Modeling and simulation of a piezo-driven camera orientation system

A camera orientation system has been developed to be used as an artificial eye e.g. in the head of humanoid robots or as a head-mounted gaze-driven camera orientation device. In this paper simulation experiments with natural eye movements, such as fixations, smooth pursuit and saccadic eye movements are carried out. The derived models are primary used to prove that the selected piezo-actuators are able to satisfy the high dynamic requirements of the human eye movements. Additionally these models can be integrated in the device as well as in the controller design phase.