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Drive system of the robot eyeballs and eyelids with 8 DOFs
Pencic, M.1; Cavic, M.1; Rackov, M.1; Borovac, B.1; Lu ZL(卢振利)2,3
作者部门机器人学研究室
关键词Drive system Robot eye mechanism Planar linkage mechanism Spatial linkage mechanism
发表期刊Mechanisms and Machine Science
ISSN2211-0984
2018
卷号57页码:47-56
收录类别EI
EI收录号20182205261416
产权排序2
资助机构Ministry of Education, Science and Technological Development of the Republic of Serbia under the contract III44008 and by the Provincial Secretariat for Higher Education and Scientific Research of AP Vojvodina under the contract 114-451-2116/2011 ; National Science Foundation of China under the contract 61473283 and by the Chinese State Key Laboratory of Robotics under the contract 2014-O08
摘要Significant aspect of the socially interactive robots are eyes which present the most expressive part of the face, especially when it is rigid as is the case with majority of the robots. For this reason to the design and realization of the eyes a particular attention should be dedicated. This paper presents the drive system of the robot eyeballs and eyelids with 8 DOFs. Eyeballs drive system has 4 DOFs and consists of two symmetrical planar mechanisms that enable independent motion of the eyeballs about the yaw axis—abduction/adduction movements and two identical spatial mechanisms that enable independent motion of the eyeballs about the pitch axis—elevation/depression movements. Eyelids drive system has 4 DOFs and consists of four structurally equal spatial mechanisms that enable independent motion of each eyelid—mechanisms for driving the upper and lower eyelids, respectively, are symmetrical. Based on the kinematic analysis, motion simulation of eyeball and upper/lower eyelid is performed. Velocities of the eyeball/eyelids movements are within the parameters of the human eye. The structure of the eyeballs drive system is such that enables inserting the camera directly into the eyeballs. In this way it is possible to achieve some of the functions of robots artificial vision such as recognizing objects, distance estimation etc.
语种英语
文献类型期刊论文
条目标识符http://ir.sia.cn/handle/173321/21886
专题机器人学研究室
通讯作者Pencic, M.
作者单位1.Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia;
2.School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu, China;
3.State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China
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GB/T 7714
Pencic, M.,Cavic, M.,Rackov, M.,et al. Drive system of the robot eyeballs and eyelids with 8 DOFs[J]. Mechanisms and Machine Science,2018,57:47-56.
APA Pencic, M.,Cavic, M.,Rackov, M.,Borovac, B.,&Lu ZL.(2018).Drive system of the robot eyeballs and eyelids with 8 DOFs.Mechanisms and Machine Science,57,47-56.
MLA Pencic, M.,et al."Drive system of the robot eyeballs and eyelids with 8 DOFs".Mechanisms and Machine Science 57(2018):47-56.
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