Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

Wang, Xuanyin; Zhang, Yang; Fu, Xiaojie; Xiang, Guishan

doi:10.1016/s1672-6529(08)60034-7

Cited by 51 publications

(18 citation statements)

References 9 publications

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“…Thus, the iCub [3,4] also has two artificial eyes with 3 DOFs., offering viewing and tracking motions. Wang, et al [5] devise a novel humanoid robot eye, which is driven by six pneumatic artificial muscles (PAMs) and rotates with 3 DOFs. Bio-inspired actuators and mechanisms have been proposed to pan and tilt a camera with comparable characteristics as a human eye [6,7].…”

Section: Introductionmentioning

confidence: 99%

Development of an image-based visual servoing for moving target tracking based on bionic spherical parallel mechanism

Luo

Liu

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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An Image-based visual servo system is presented for a bionic spherical parallel mechanism to minimize a tracking error function to analog smooth pursuit of human eye, which is also called eye-in-hand visual servoing, capable of tracking moving target. More specially, we propose a real-time moving target tracking algorithms which utilizes perceptive image hash based on Discrete Cousin Transform, collaborative in particle filtering framework to achieve automatic moving target detection. In the proposed algorithm, the key geometry position features of the target are extracted to detect and identify the target. Once the target is identified, an image-based control scheme is implemented to drive bionic spherical parallel mechanism such that the identified target is to be tracked at the center of the captured images. Experimental results demonstrate the effectiveness and robustness of our visual servo system for bionic spherical parallel mechanism.

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Section: Introductionmentioning

confidence: 99%

Development of an image-based visual servoing for moving target tracking based on bionic spherical parallel mechanism

Luo

Liu

et al. 2014

2014 IEEE International Conference on Robotics and Biomimetics (ROBIO 2014)

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“…On the one hand, several analytical models of the kinematics of the eye have been proposed in the literature; some works are based on a merely geometric description of the movements of the eyeball as [3] and [4]. There are works on the design of robotic eyes that do not recreate the actual movements of the eye or reduce the degrees of freedom to simplify their control [5,6].…”

Section: Introductionmentioning

confidence: 99%

Computer application for extraocular muscle analysis based on a parallel kinematics model of the eye

Trujillo-Suarez¹,

Jaramillo-Osorio²

2019

revuin

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How to cite: C. Trujillo-Suárez, A. Jaramillo-Osorio, "Computer application for extraocular muscle analysis based on a parallel kinematics model of the eye," Rev. AbstractWe propose a mechanical model of eyeball movements based on a parallel kinematics mechanism, where the extraocular muscles can be replaced by cables. Based on this framework, we present the anatomical conditions for the eyeball movement, analyze its inverse kinematics to obtain isodeformation curves of extraocular muscles. A computer application was developed that simulates eyeball movement and displays the associated deformation curves in real time. The results are a novel contribution to the modeling of biomechanical systems using kinematics theory; the computer application is a useful resource for medical and clinical training.

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“…In contrast, with advanced sensor system cognizing and understanding realtime environmental information [1], those robots can overcome these limitations. Like human eyes, which obtain about 80% of perceptual information from the objective world [2,3], the robotic eye is also the significant sensory device.…”

Section: Introductionmentioning

confidence: 99%

“…An artificial prosthetic eye had been applied into an eye disabled patient to achieve natural movements using intelligent control methods [13][14][15]. Six Pneumatic muscles were utilized to imitate six extra-ocular muscles to orient a camera with 3 DOF, which was biologically inspired with the loss of dexterity and compact mechanism [2]. To overcome these drawbacks, Giorgio Cannata et al [10] used four tendons driven by DC motors as the six pneumatic muscles to realize eyeball orientation.…”

Section: Introductionmentioning

confidence: 99%

Optimal design of a robotic eye based on spherical parallel mechanism by evolutionary strategy algorithm

Huang

Luo

et al. 2014

2014 IEEE International Conference on Information and Automation (ICIA)

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This paper proposes a robotic eye based on spherical parallel mechanism with three degrees of freedom. It aims to imitate the human eye with active vision for robots in various unstructured environments. Its kinematic analysis and performance estimation indexes are presented. For the pursuit of best velocity and acceleration accuracies of the eyeball, an optimal design method using evolutionary strategy algorithm is proposed. Compared with the results by previous trial-and-error method, our optimal results bring better performance of the robotic eye, also indicating the verification of the ESA method.

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Design and Kinematic Analysis of a Novel Humanoid Robot Eye Using Pneumatic Artificial Muscles

Cited by 51 publications

References 9 publications

Development of an image-based visual servoing for moving target tracking based on bionic spherical parallel mechanism

Development of an image-based visual servoing for moving target tracking based on bionic spherical parallel mechanism

Computer application for extraocular muscle analysis based on a parallel kinematics model of the eye

Optimal design of a robotic eye based on spherical parallel mechanism by evolutionary strategy algorithm

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