Design and control of the Twente humanoid head

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

Design and control of the Twente humanoid head

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

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › Academic

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Abstract

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 language	English
Title of host publication	Proceedings of the 2nd Workshop on Human Friendly Robotics 2009
Place of Publication	Genova, Italy
Publisher	Instituto Italiano di Tecnologia
Number of pages	1
Publication status	Published - 3 Dec 2009
Event	2nd Workshop on Human Friendly Robotics 2009 - Sestri Levante, Italy Duration: 3 Dec 2009 → 3 Dec 2009

Workshop

Workshop	2nd Workshop on Human Friendly Robotics 2009
Country/Territory	Italy
City	Sestri Levante
Period	3/12/09 → 3/12/09

Keywords

Modeling
Motion Control

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title = "Design and control of the Twente humanoid head",

abstract = "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.",

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author = "L.C. Visser and R. Carloni and S. Stramigioli",

year = "2009",

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language = "English",

booktitle = "Proceedings of the 2nd Workshop on Human Friendly Robotics 2009",

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address = "Italy",

note = "2nd Workshop on Human Friendly Robotics 2009 ; Conference date: 03-12-2009 Through 03-12-2009",

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TY - GEN

T1 - Design and control of the Twente humanoid head

AU - Visser, L.C.

AU - Carloni, R.

AU - Stramigioli, S.

PY - 2009/12/3

Y1 - 2009/12/3

N2 - 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.

AB - 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.

KW - Modeling

KW - Motion Control

UR - http://hfr2009.wordpress.com/

M3 - Conference contribution

BT - Proceedings of the 2nd Workshop on Human Friendly Robotics 2009

PB - Instituto Italiano di Tecnologia

CY - Genova, Italy

T2 - 2nd Workshop on Human Friendly Robotics 2009

Y2 - 3 December 2009 through 3 December 2009

ER -

Design and control of the Twente humanoid head

Abstract

Workshop

Keywords

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