DocumentCode
2381205
Title
The Twente humanoid head
Author
Reilink, R. ; Visser, L.C. ; Bennik, J. ; Carloni, R. ; Brouwer, D.M. ; Stramigioli, S.
Author_Institution
IMPACT Institute, Faculty of Electrical Engineering, Mathematics and Computer Science, University of Twente, 7500 AE Enschede, The Netherlands
fYear
2009
fDate
12-17 May 2009
Firstpage
1593
Lastpage
1594
Abstract
This video shows the results of the project on the mechatronic development of the Twente humanoid head. The mechanical structure consists of a neck with four degrees of freedom (DOFs) and two eyes (a stereo pair system) which tilt on a common axis and rotate sideways freely providing a three more DOFs. The motion control algorithm is designed to receive, as an input, the output of a biological-inspired vision processing algorithm and to exploit the redundancy of the joints for the realization of the movements. The expressions of the humanoid head are implemented by projecting light from the internal part of the translucent plastic cover.
Keywords
Cameras; Eyes; Gravity; Humans; Mechatronics; Neck; Robotics and automation; Torque; Tracking; Videoconference;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2009. ICRA '09. IEEE International Conference on
Conference_Location
Kobe
ISSN
1050-4729
Print_ISBN
978-1-4244-2788-8
Electronic_ISBN
1050-4729
Type
conf
DOI
10.1109/ROBOT.2009.5152436
Filename
5152436
Link To Document