Automatic tracking of human-body using a 3 DOF robotic lamp

Most lamp units at ceilings, walls, and streets are static and no automatic motion capabilities are available at all to adjust lamp tilting angles and its zooming position. This paper proposes a spherical type robotic lamp that creates three degrees of freedom (DOF) motion for tracking the human-body. In the robotic lamp, three motors are placed at the base frame to control its two tilting angles and its one-DOF zoom in-and-out motion for a localized light. And ubiquitous sensors installed at environment are used to detect the location of the human body. The kinematic model of this device is derived and the proto type has been developed. A test room equipped with nine PIR sensors, a Zigbee, and one robotic lamp was developed. The performance of this device was verified through human tracking experiment.