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.
|Title of host publication||Proceedings of the 2nd Workshop on Human Friendly Robotics|
|Place of Publication||Genova, Italy|
|Number of pages||1|
|ISBN (Print)||not assigned|
|Publication status||Published - 3 Dec 2009|
- Motion Control