Vision based motion control for a humanoid head

L.C. Visser, Raffaella Carloni, Stefano Stramigioli

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    5 Citations (Scopus)
    84 Downloads (Pure)

    Abstract

    This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed and modeled using screw theory. The motion control algorithm is designed to receive, as an input, the output of a vision processing algorithm and to exploit the redundancy of the system for the realization of the movements. This algorithm is designed to enable the head to focus on and to follow a target, showing human-like motions. The performance of the control algorithm has been tested in a simulated environment and, then, experimentally applied to the real humanoid head.
    Original languageUndefined
    Title of host publicationProceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems, 2009
    Place of PublicationLos Alamitos
    PublisherIEEE ROBOTICS AND AUTOMATION SOCIETY
    Pages5469-5474
    Number of pages6
    ISBN (Print)978-1-4244-3803-7
    DOIs
    Publication statusPublished - Oct 2009
    Event2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, United States
    Duration: 10 Oct 200915 Oct 2009

    Publication series

    Name
    PublisherIEEE Computer Society Press

    Conference

    Conference2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
    Abbreviated titleIROS
    CountryUnited States
    CitySt. Louis
    Period10/10/0915/10/09

    Keywords

    • METIS-264087
    • Motion Control
    • EWI-16206
    • IR-69033
    • CE-Advanced Robotics
    • Modeling

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