A theory of generalized inverses applied to robotics
International Journal of Robotics Research
A Model of Saliency-Based Visual Attention for Rapid Scene Analysis
IEEE Transactions on Pattern Analysis and Machine Intelligence
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
Robot Analysis and Design: The Mechanics of Serial and Parallel Manipulators
A Mathematical Introduction to Robotic Manipulation
A Mathematical Introduction to Robotic Manipulation
IEEE Spectrum
An Integrated Model of Top-Down and Bottom-Up Attention for Optimizing Detection Speed
CVPR '06 Proceedings of the 2006 IEEE Computer Society Conference on Computer Vision and Pattern Recognition - Volume 2
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
Vision based motion control for a humanoid head
IROS'09 Proceedings of the 2009 IEEE/RSJ international conference on Intelligent robots and systems
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This paper describes the mechatronic design of the Twente humanoid head, which has been realized in the purpose of having a research platform for human-machine interaction. The design features a fast, four degree of freedom neck, with long range of motion, and a vision system with three degrees of freedom, mimicking the eyes. To achieve fast target tracking, two degrees of freedom in the neck are combined in a differential drive, resulting in a low moving mass and the possibility to use powerful actuators. The performance of the neck has been optimized by minimizing backlash in the mechanisms, and using gravity compensation. The vision system is based on a saliency algorithm that uses the camera images to determine where the humanoid head should look at, i.e. the focus of attention computed according to biological studies. The motion control algorithm receives, as input, the output of the vision algorithm and controls the humanoid head to focus on and follow the target point. The control architecture exploits the redundancy of the system to show human-like motions while looking at a target. The head has a translucent plastic cover, onto which an internal LED system projects the mouth and the eyebrows, realizing human-like facial expressions.