Design and control of the Twente humanoid head

L.C. Visser, R. Carloni, S. Stramigioli

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    The Twente humanoid head features a four degree of freedom neck and two eyes that are implemented by using cameras. The cameras tilt on a common axis, but can rotate sideways independently, thus implementing another three degrees of freedom. A vision processing algorithm has been developed that selects interesting targets in the camera images. The image coordinates of the selected target are provided to a motion control algorithm, which controls the head to look at the target. The degrees of freedom and redundancy of the system are controlled such that natural human-like motions are obtained. The head is capable of showing expressions through mouth and eyebrows by means of light projection from the inside part of the exterior shell.
    Original languageEnglish
    Title of host publicationProceedings of the 2nd Workshop on Human Friendly Robotics 2009
    Place of PublicationGenova, Italy
    PublisherInstituto Italiano di Tecnologia
    Number of pages1
    Publication statusPublished - 3 Dec 2009
    Event2nd Workshop on Human Friendly Robotics 2009 - Sestri Levante, Italy
    Duration: 3 Dec 20093 Dec 2009


    Workshop2nd Workshop on Human Friendly Robotics 2009
    CitySestri Levante


    • Modeling
    • Motion Control

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