A three-degree-of-freedom anthropomorphic oculomotor simulator

For a sophisticated humanoid that explores and learns its environment and interacts with humans, anthropomorphic physical behavior is much desired. The human vision system orients each eye with three-degree-of-freedom (3-DOF) in the directions of horizontal, vertical and torsional axes. Thus, in order to accurately replicate human vision system, it is imperative to have a simulator with 3-DOF end-effector. We present a 3-DOF anthropomorphic oculomotor system that reproduces realistic human eye movements for human-sized humanoid applications. The parallel link architecture of the oculomotor system is sized and designed to match the performance capabilities of the human vision. In this paper, a biologically-inspired mechanical design and the structural kinematics of the prototype are described in detail. The motility of the prototype in each axis of rotation was replicated through computer simulation, while performance tests comparable to human eye movements were recorded.


Publié dans:
International Journal of Control, Automation and Systems, 4, 2, 227-235
Année
2006
Mots-clefs:
Note:
School of Mechanical and Aerospace Engineering, Seoul National University, San 56-1, Sillim-dong, Gwanak-gu, Seoul 151-742, South Korea Department of Psychology, Seoul National University, San 56-1, Sillim-dong, Gwanak-gu, Seoul 151-742, South Korea Seoul National University, South Korea Department of Psychology, Seoul National University, South Korea
Cited By (since 1996): 7
Export Date: 15 August 2012
Source: Scopus
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 Notice créée le 2012-09-18, modifiée le 2018-03-17


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