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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
Department机器人学研究室
Source PublicationMechanisms and Machine Science
ISSN2211-0984
2018
Volume57Pages:47-56
Indexed ByEI
EI Accession number20182205261416
Contribution Rank2
Funding OrganizationMinistry 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
KeywordDrive system Robot eye mechanism Planar linkage mechanism Spatial linkage mechanism
AbstractSignificant 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.
Language英语
Document Type期刊论文
Identifierhttp://ir.sia.cn/handle/173321/21886
Collection机器人学研究室
Corresponding AuthorPencic, M.
Affiliation1.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
Recommended Citation
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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