A theory of generalized inverses applied to robotics
International Journal of Robotics Research
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
IEEE Spectrum
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mechatronic design of a fast and long range 4 degrees of freedom humanoid neck
ICRA'09 Proceedings of the 2009 IEEE international conference on Robotics and Automation
Mechatronic design of the Twente humanoid head
Intelligent Service Robotics
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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.