Vision based motion control for a humanoid head

L.C. Visser; Raffaella Carloni; Stefano Stramigioli

doi:10.1109/IROS.2009.5353914

Vision based motion control for a humanoid head

L.C. Visser, Raffaella Carloni, Stefano Stramigioli

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

6 Citations (Scopus)

251 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 language	Undefined
Title of host publication	Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems, 2009
Place of Publication	Los Alamitos
Publisher	IEEE
Pages	5469-5474
Number of pages	6
ISBN (Print)	978-1-4244-3803-7
DOIs	https://doi.org/10.1109/IROS.2009.5353914
Publication status	Published - Oct 2009
Event	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 - St. Louis, United States Duration: 10 Oct 2009 → 15 Oct 2009

Publication series

Name
Publisher	IEEE Computer Society Press

Conference

Conference	2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009
Abbreviated title	IROS
Country/Territory	United States
City	St. Louis
Period	10/10/09 → 15/10/09

Keywords

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

Access to Document

10.1109/IROS.2009.5353914

Cite this

@inproceedings{8a378dd3f12b4340b507f7fc647d9de9,

title = "Vision based motion control for a humanoid head",

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.",

keywords = "METIS-264087, Motion Control, EWI-16206, IR-69033, CE-Advanced Robotics, Modeling",

author = "L.C. Visser and Raffaella Carloni and Stefano Stramigioli",

note = "10.1109/IROS.2009.5353914 ; 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009 ; Conference date: 10-10-2009 Through 15-10-2009",

year = "2009",

month = oct,

doi = "10.1109/IROS.2009.5353914",

language = "Undefined",

isbn = "978-1-4244-3803-7",

publisher = "IEEE",

pages = "5469--5474",

booktitle = "Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems, 2009",

address = "United States",

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Visser, LC, Carloni, R & Stramigioli, S 2009, Vision based motion control for a humanoid head. in Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems, 2009., 10.1109/IROS.2009.5353914, IEEE, Los Alamitos, pp. 5469-5474, 2009 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2009, St. Louis, Missouri, United States, 10/10/09. https://doi.org/10.1109/IROS.2009.5353914

Vision based motion control for a humanoid head. / Visser, L.C.; Carloni, Raffaella; Stramigioli, Stefano.
Proceedings of the RSJ/IEEE International Conference on Intelligent Robots and Systems, 2009. Los Alamitos: IEEE, 2009. p. 5469-5474 10.1109/IROS.2009.5353914.

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

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AB - 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.

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