Robot Head Motion Control with an Emphasis on Realism of Neck–Eye Coordination during Object Tracking |
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Authors: | Jartuwat Rajruangrabin Dan O Popa |
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Affiliation: | 1.Automation & Robotics Research Institute,The University of Texas,Arlington,USA |
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Abstract: | Important aspects of present-day humanoid robot research is to make such robots look realistic and human-like, both in appearance,
as well as in motion and mannerism. In this paper, we focus our study on advanced control leading to realistic motion coordination
for a humanoid’s robot neck and eyes while tracking an object. The motivating application for such controls is conversational
robotics, in which a robot head “actor” should be able to detect and make eye contact with a human subject. Therefore, in
such a scenario, the 3D position and orientation of an object of interest in space should be tracked by the redundant head–eye
mechanism partly through its neck, and partly through its eyes. In this paper, we propose an optimization approach, combined
with a real-time visual feedback to generate the realistic robot motion and robustify it. We also offer experimental results
showing that the neck–eye motion obtained from the proposed algorithm is realistic comparing to the head–eye motion of humans. |
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