DocumentCode :
1925974
Title :
Eye motion generation in a mobile service robot ‘SILBOT II’
Author :
Oh, Kyung-Geune ; Jung, Chan-Yul ; Choi, Mun-Taek ; Kim, Seung-Jong
Author_Institution :
Energy Mech. Center, Korea Inst. of Sci. & Technol. (KIST), Seoul, South Korea
fYear :
2010
fDate :
26-28 Oct. 2010
Firstpage :
59
Lastpage :
64
Abstract :
Face of a robot capable of facial expression has a complex structure inside consisting of many actuators, sensors, and other parts. Specially, eyes and its neighbor elements such as upper/lower eyelids, cameras and eyelids, are very densely arranged. In this paper, a compact eyeball module is suggested which is driven with Teflon tube enveloped metal wires, so that one directional motion can be made with one wire pushed or pulled by a motor. And the cylindrical and ball-type pivot parts are used in ends of the tubes and wires, so as to permit their rotation during eye movement. The performance of the suggested module is verified through the comparison between experimental and analytical results. The results are well matched with each other and the degree of positioning precision is also good.
Keywords :
cameras; emotion recognition; eye; humanoid robots; mobile robots; motion estimation; position control; service robots; SILBOT II; ball type pivot part; compact eyeball module; complex structure; directional motion; eye motion generation; facial expression; metal wire; mobile service robot; positioning precision; teflon tube; upper-lower eyelid; Analytical models; Cameras; Electron tubes; Eyelids; Face; Robots; Wires;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Advanced Robotics and its Social Impacts (ARSO), 2010 IEEE Workshop on
Conference_Location :
Seoul
Print_ISBN :
978-1-4244-9122-3
Type :
conf
DOI :
10.1109/ARSO.2010.5679626
Filename :
5679626
Link To Document :
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