MAC-EYE: a tendon driven fully embedded robot eye

Author

Biamino, Dario ; Cannata, Giorgio ; Maggiali, Marco ; Piazza, Alessandro

Author_Institution

Dept. of Commun., Comput. & Syst. Sci., Genova Univ.

fYear

2005

fDate

5-5 Dec. 2005

Firstpage

62

Lastpage

67

Abstract

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

Keywords

CMOS image sensors; artificial organs; control engineering computing; eye; field buses; optical sensors; robot kinematics; CAN bus; CMOS color camera; MAC-EYE; optical sensors; tendon driven embedded robot eye; CMOS image sensors; Cameras; DC motors; Eyes; Friction; Humans; Optical feedback; Optical sensors; Robot vision systems; Tendons;

fLanguage

English

Publisher

ieee

Conference_Titel

Humanoid Robots, 2005 5th IEEE-RAS International Conference on

Conference_Location

Tsukuba

Print_ISBN

0-7803-9320-1

Type

conf

DOI

10.1109/ICHR.2005.1573546

Filename

1573546