The twente humanoid head

Authors:
R. Reilink;L. C. Visser;J. Bennik;R. Carloni;D. M. Brouwer;S. Stramigioli
Affiliations:
IMPACT Institute, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands;IMPACT Institute, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands;Faculty of Engineering Technology, University of Twente, Enschede, The Netherlands;IMPACT Institute, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands;Faculty of Engineering Technology, University of Twente, Enschede, The Netherlands;IMPACT Institute, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, Enschede, The Netherlands
Venue:
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Year:
2009

Citing 3
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Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck

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Vision based motion control for a humanoid head

IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
Mechatronic design of the Twente humanoid head

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Abstract

This video shows the results of the project on the mechatronic development of the Twente humanoid head. The mechanical structure consists of a neck with four degrees of freedom (DOFs) and two eyes (a stereo pair system) which tilt on a common axis and rotate sideways freely providing a three more DOFs. The motion control algorithm is designed to receive, as an input, the output of a biological-inspired vision processing algorithm and to exploit the redundancy of the joints for the realization of the movements. The expressions of the humanoid head are implemented by projecting light from the internal part of the translucent plastic cover.