Advertisement

Journal of Bionic Engineering

, Volume 5, Issue 3, pp 264–270 | Cite as

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

  • Xuan-yin Wang
  • Yang ZhangEmail author
  • Xiao-jie Fu
  • Gui-shan Xiang
Article

Abstract

This paper proposed a novel humanoid robot eye, which is driven by six Pneumatic Artificial Muscles (PAMs) and rotates with 3 Degree of Freedom (DOF). The design of the mechanism and motion type of the robot eye are inspired by that of human eyes. The model of humanoid robot eye is established as a parallel mechanism, and the inverse-kinematic problem of this flexible tendons driving parallel system is solved by the analytical geometry method. As an extension, the simulation result for saccadic movement is presented under three conditions. The design and kinematic analysis of the prototype could be a significant step towards the goal of building an autonomous humanoid robot eye with the movement and especially the visual functions similar to that of human.

Keywords

bionic robotics bio-inspiration humanoid robot eye air muscle inverse-kinematic 

Preview

Unable to display preview. Download preview PDF.

Unable to display preview. Download preview PDF.

References

  1. [1]
    Forsyth D A, Ponce J. Computer Vision: A Modern Approach, Tsinghua University Press, Beijing, China, 2004.Google Scholar
  2. [2]
    Pongas D, Guenter F, Guignard A, Billard A. Development of a miniature pair of eyes with camera for the humanoid robot robota. Proceedings of the 2004 IEEE-RAS/RSJ International Conference on Humanoid Robots, 2004, Los Angeles, USA, 899–911.CrossRefGoogle Scholar
  3. [3]
    Zhang X, Lee M H. A developmental robot vision system. Proceedings of the 2006 IEEE International Conference on Systems Man and Cybernetics, Taipei, China, 2006, 2024–2029.CrossRefGoogle Scholar
  4. [4]
    May S, Surmann H, Mueller M, Pervoelz K. 3D cameras for mobile robotics. Proceedings of the IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006, 6–6.Google Scholar
  5. [5]
    Polpitiya A D, Dayawansa W P, Martin C F, Ghosh B K. Geometry and control of human eye movements. IEEE Transaction on Automatic Control, 2007, 2, 170–180.MathSciNetCrossRefGoogle Scholar
  6. [6]
    Martin C, Schovanec L. Muscle mechanics and dynamics of ocular motion. Journal of Mathematical Systems Estimation and Control, 1998, 8, 1–15.MathSciNetzbMATHGoogle Scholar
  7. [7]
    Cannata G, Maggiali M. Implementation of Listing’s law for a tendon driven robot eye. Proceedings of the 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, Beijing, China, 2006, 3940–3945.CrossRefGoogle Scholar
  8. [8]
    Cannata G, Maggiali M. Models for the design of bioinspired robot eyes. IEEE Transactions on Robotics, 2008, 1, 1–18.Google Scholar
  9. [9]
    Manfredi L, Maini E S, Dario P, Laschi C, Girard B, Tabareau N, Berthoz A. Implementation of a neurophysiological model of saccadic eye movements on an anthropomorphic robotic head. Proceedings of the 2006 IEEE-RAS/RSJ International Conference on Humanoid Robots, 2006, Genoa, Italy, 438–443.CrossRefGoogle Scholar
  10. [10]
    Zhu X W, Yu Q F. Ground target recognition and tracking based on biological vision. Infrared and Laser Engineering, 2007, 36, 995, 977–979. (in Chinese)Google Scholar
  11. [11]
    Tweed D, Vilis T. Rotation axes of saccades. Annals of the New York Academy of Sciences, 1998, 545, 128–139.CrossRefGoogle Scholar
  12. [12]
    Quaia C, Optican L M. Commutative saccadic generator is sufficient to control a 3D ocular plant with pulleys. The Journal of Neurophysiology, 1998, 79, 3197–3215.CrossRefGoogle Scholar
  13. [13]
    Baron T, Levine M D, Hayward V, Bolduc M, Grant D. A biologically-motivated robot eye system. The 8th CASI Conference on Astronautics, Ottawa, Canada, 1994, 231–240.Google Scholar
  14. [14]
    Shibata T, Schaal S. Fast learning of biomimetic oculomotor control with nonparametric regression networks. Proceedings of the IEEE International Conference on Robotics and Automation, San Francisco, USA, 2000, 3847–3854.Google Scholar
  15. [15]
    Walker R. Shadow Dextrous Hand Technical Specification, The Shadow Robot Company, London, 2005.Google Scholar
  16. [16]
    Hepp K. On Listing’s law. Communications in Mathematical Physics, 1990, 132, 285–292.MathSciNetCrossRefGoogle Scholar
  17. [17]
    Craig J J. Introduction to Robotics: Mechanics and Control, 3rd ed, China Machine Press, Beijing, 2005.Google Scholar

Copyright information

© Jilin University 2008

Authors and Affiliations

  • Xuan-yin Wang
    • 1
  • Yang Zhang
    • 1
    Email author
  • Xiao-jie Fu
    • 1
  • Gui-shan Xiang
    • 1
  1. 1.State Key Laboratory of Fluid Power Transmission and ControlZhejiang UniversityHangzhouP. R. China

Personalised recommendations