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Drive System of the Robot Eyeballs and Eyelids with 8 DOFs

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New Advances in Mechanism and Machine Science

Part of the book series: Mechanisms and Machine Science ((Mechan. Machine Science,volume 57))

Abstract

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.

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Acknowledgements

This research was funded by the 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. It is also supported by the National Science Foundation of China under the contract 61473283 and by the Chinese State Key Laboratory of Robotics under the contract 2014-O08.

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Authors and Affiliations

  1. Faculty of Technical Sciences, University of Novi Sad, Novi Sad, Serbia

    M. Penčić, M. Čavić, M. Rackov & B. Borovac

  2. School of Electrical Engineering and Automation, Changshu Institute of Technology, Changshu, China

    Z. Lu

  3. State Key Laboratory of Robotics, Shenyang Institute of Automation, Chinese Academy of Sciences, Shenyang, China

    Z. Lu

Authors
  1. M. Penčić
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  2. M. Čavić
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  3. M. Rackov
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  4. B. Borovac
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  5. Z. Lu
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Corresponding author

Correspondence to M. Penčić .

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Editors and Affiliations

  1. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Ioan Doroftei

  2. Mechanical Engineering, Mechatronics and Robotics Department, Mechanical Engineering Faculty, “Gheorghe Asachi” Technical University of Iaşi, Iaşi, Romania

    Cezar Oprisan

  3. Mechanical Systems Engineering Department, Machine Building Faculty, Research Center for Industrial Robots Simulation and Testing, Technical University of Cluj-Napoca, Cluj-Napoca, Romania

    Doina Pisla

  4. Mechatronics Department, Mechanical Engineering Faculty, Politehnica University of Timisoara, Timişoara, Romania

    Erwin Christian Lovasz

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Penčić, M., Čavić, M., Rackov, M., Borovac, B., Lu, Z. (2018). Drive System of the Robot Eyeballs and Eyelids with 8 DOFs. In: Doroftei, I., Oprisan, C., Pisla, D., Lovasz, E. (eds) New Advances in Mechanism and Machine Science. Mechanisms and Machine Science, vol 57. Springer, Cham. https://doi.org/10.1007/978-3-319-79111-1_5

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  • DOI: https://doi.org/10.1007/978-3-319-79111-1_5

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-79110-4

  • Online ISBN: 978-3-319-79111-1

  • eBook Packages: EngineeringEngineering (R0)

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