This paper presents a model for a tendon driven robot eye designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. Physiological saccadic motions obey the so called Listing's l...
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This paper presents a model for a tendon driven robot eye designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. Physiological saccadic motions obey the so called Listing's law which constrains the admissible eye's angular velocities. The paper discusses conditions making possible to implement the Listing's law on a purely mechanical basis, i.e. without active control
Eye movements have the goal of optimizing visual perception, therefore the investigation of eye motion strategies play an important role in the design of humanoid robot eye systems. Saccades in humans and primates is ...
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ISBN:
(纸本)1424401992;142440200X
Eye movements have the goal of optimizing visual perception, therefore the investigation of eye motion strategies play an important role in the design of humanoid robot eye systems. Saccades in humans and primates is a significant class of ocular motions, which obey the so called Listing's Law, which constrains the admissible eye's angular velocities and ensure zero torsion during motion. In this paper we present a model of the eye plant proving that listing's law implementation is strongly related with the geometry of the eye and its actuation system (extraocular muscles). The proposed model has been used to provide the guidelines for the design of a tendon driven humanoid robot eye. Experimental tests, presented in this paper, validate the model by performing a quantitative comparison of the performance of the robot eye with physiological data measured in humans and primates during saccades
A new fully embedded tactile/force sensor system is presented. The sensor has been designed to be installed on a dextrous robot gripper (MAC-HAND). The tactile sensor consists of a matrix of 64 electrodes, etched on a...
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A new fully embedded tactile/force sensor system is presented. The sensor has been designed to be installed on a dextrous robot gripper (MAC-HAND). The tactile sensor consists of a matrix of 64 electrodes, etched on a flexible PCB covered by a conductive rubber layer. The force sensor is an off-the-shelf integrated three components micro-joystick. The analog and digital electronics is fully embedded with the sensor that is a self-standing module mounted on each finger phalange
This paper presents a new tendon driven robotic eye. The system has been designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. The system consists of a sphere (the eye-ball), ac...
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This paper presents a new tendon driven robotic eye. The system has been designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. The system consists of a sphere (the eye-ball), actuated by four independent tendons driven by four DC motors, integrated in the system. The eye-ball hosts a miniature CMOS color camera and is hold by a low friction support allowing three rotational degrees of freedom. Optical sensors provide feedback to control the correct tendons' tensions during operations. The control of the eye is performed by means of an embedded controller connected to a host computer using CAN bus
This paper concerns the unscented Kalman filtering (UKF) for the nonlinear dynamic systems with additive process and measurement noises. We find that under some condition, the basic difference between them is that the...
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ISBN:
(纸本)0780390989
This paper concerns the unscented Kalman filtering (UKF) for the nonlinear dynamic systems with additive process and measurement noises. We find that under some condition, the basic difference between them is that the augmented UKF draws sigma set only once within a filtering recursion while the non-augmented UKF has to redraw a new set of sigma points to incorporate the effect of additive process noise. This difference generally favors the augmented UKF. The analyses are supported by a representative example.
controller design methods based on flatness and passivity are well established. These methods are applied to PCHD systems such that flatness is used to achieve a high tracking performance and passivity ensures disturb...
This contribution deals with the modelling and control of an elastic manipulator. The arm is actuated by a hydraulic ram due to the significant weight. The overall goal is to achieve good tracking of the tip, as well ...
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