Abstract
In this work we present a very systematic approach to control a humanoid robot head for 3-D object tracking. The proposed approach is based on the concept of virtual mechanism, where the real head is enhanced with a virtual link that connects the eyes with a point in 3-D space. The use of virtual mechanism results in a more systematic description of a task and allows us to use “off the shelf” control algorithms. Additionally, it can be easily implemented on different types of active humanoid heads. We implemented the proposed approach on a humanoid head with two rigidly connected cameras in each eye (wide-angle and telescopic). The experimental results show that the proposed control algorithm can be used to maintain the view of an observed object in the foveal (telescopic) image using information from the peripheral view. Unlike other methods proposed in the literature, our approach indicates how to exploit the redundancy of the robot head.
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Omrčcen, D., Ude, A. (2010). A Virtual Mechanism Enhanced Approach for Object Tracking with Humanoid Robot Head. In: Lenarcic, J., Stanisic, M. (eds) Advances in Robot Kinematics: Motion in Man and Machine. Springer, Dordrecht. https://doi.org/10.1007/978-90-481-9262-5_26
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DOI: https://doi.org/10.1007/978-90-481-9262-5_26
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