High-speed and bio-mimetic control of a stereo head system

When a human tracks a moving object, he turns his eyes and head cooperatively. One example of this cooperative motion is that tracking only using his eyes or using both his head and eyes. In this research, we have developed a binocular head with a high-speed vision system to track a fast and irregularly moving object. Usually, binocular heads are controlled to turn to a front of a moving target. We propose a head-eye cooperative method using the "head motion coefficient" which reduces head motions considering the position and the velocity of a target. We made some experiments and show that proposed method can track the target efficiently with human-like motion.