1P1-L05 Optical Axis Control System with Eye-neck Coordinated Movements for Mobile Robot Vision(Vision System for Mobile Robot)
Tomu AKETO, Yasuhito NAKATANI, Shohei SAKAI, Xiaolin Zhang · The Proceedings of JSME annual Conference on Robotics and Mechatronics (Robomec) · 2013
Stereo cameras are standard for robot vision because they give robots both visual information and capability of calculating the distance towards object; however, conventional systems have a problem which cannot see clear vision owing to blurring of robots or target objects. On the other hand, we human can obtain stabilized visual information although head and body dynamically move in our daily life. Our group focused on such a human's stabilized retinal information processing, and then has been developing a binocular vision control system. In previous studies, our vision system has fundamental eye movements; however, a region of these movements on the system is narrow because the system can move only eye movements range. In this paper, we propose a control model with neck torsion which gives a wide region of binocular movement.