Design of anthropomorphic robot bionic eyes

Di Fan; Xiaopeng Chen; Taoran Zhang; Xu Chen; Guilin Liu; Hafiz Muhammad Owais; Hyunwoo Kim; Ye Tian; Weimin Zhang; Qiang Huang

doi:10.1109/ROBIO.2017.8324721

Design of anthropomorphic robot bionic eyes

Di Fan, Xiaopeng Chen^*, Taoran Zhang, Xu Chen, Guilin Liu, Hafiz Muhammad Owais, Hyunwoo Kim, Ye Tian, Weimin Zhang, Qiang Huang

^*Corresponding author for this work

School of Mechatronical Engineering

Beijing Institute of Technology

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

8 Citations (Scopus)

Abstract

This paper presents a new type of anthropomorphic robot bionic eyes. Most existing eye mechanisms are serial mechanism and have no degree of freedom (DOF) for eye roll, however, the serial mechanism is not compact enough and the eye roll movement is crucial for image stabilization, consequently, we design a 3 DOFs compact serial-parallel eye mechanism which can implement the eye spherical movements without eccentricity, the diameter of the eyeball is only 45 mm, the total weight of the eye mechanism is 300 g, each of the eye contains two cameras (long and short focal length lens) for mimicking the perception features of human eyes. We also design a 3 DOFs serial neck mechanism for improving the flexibility and the ability of image stabilization of the robot bionic eyes. The neck and each of the eye contain inertial sensors, the robot bionic eyes can implement the vestibuloocular reflex like hybrid image stabilization function in two-stage by using the neck and eye mechanisms. The robot bionic eyes contain completely the same number of DOFs with human which is beneficial to human-robot interaction.

Original language	English
Title of host publication	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Publisher	Institute of Electrical and Electronics Engineers Inc.
Pages	2050-2056
Number of pages	7
ISBN (Electronic)	9781538637418
DOIs	https://doi.org/10.1109/ROBIO.2017.8324721
Publication status	Published - 2 Jul 2017
Event	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 - Macau, China Duration: 5 Dec 2017 → 8 Dec 2017

Publication series

Name	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Volume	2018-January

Conference

Conference	2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017
Country/Territory	China
City	Macau
Period	5/12/17 → 8/12/17

Keywords

Calibration-Free
Eye Mechanism
Image Stabilization
Kinematic Modeling
Neck Mechanism
Robot Bionic Eyes

Access to Document

10.1109/ROBIO.2017.8324721

Cite this

Fan, D., Chen, X., Zhang, T., Chen, X., Liu, G., Owais, H. M., Kim, H., Tian, Y., Zhang, W., & Huang, Q. (2017). Design of anthropomorphic robot bionic eyes. In 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 (pp. 2050-2056). (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/ROBIO.2017.8324721

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title = "Design of anthropomorphic robot bionic eyes",

abstract = "This paper presents a new type of anthropomorphic robot bionic eyes. Most existing eye mechanisms are serial mechanism and have no degree of freedom (DOF) for eye roll, however, the serial mechanism is not compact enough and the eye roll movement is crucial for image stabilization, consequently, we design a 3 DOFs compact serial-parallel eye mechanism which can implement the eye spherical movements without eccentricity, the diameter of the eyeball is only 45 mm, the total weight of the eye mechanism is 300 g, each of the eye contains two cameras (long and short focal length lens) for mimicking the perception features of human eyes. We also design a 3 DOFs serial neck mechanism for improving the flexibility and the ability of image stabilization of the robot bionic eyes. The neck and each of the eye contain inertial sensors, the robot bionic eyes can implement the vestibuloocular reflex like hybrid image stabilization function in two-stage by using the neck and eye mechanisms. The robot bionic eyes contain completely the same number of DOFs with human which is beneficial to human-robot interaction.",

keywords = "Calibration-Free, Eye Mechanism, Image Stabilization, Kinematic Modeling, Neck Mechanism, Robot Bionic Eyes",

author = "Di Fan and Xiaopeng Chen and Taoran Zhang and Xu Chen and Guilin Liu and Owais, {Hafiz Muhammad} and Hyunwoo Kim and Ye Tian and Weimin Zhang and Qiang Huang",

note = "Publisher Copyright: {\textcopyright} 2017 IEEE.; 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017 ; Conference date: 05-12-2017 Through 08-12-2017",

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doi = "10.1109/ROBIO.2017.8324721",

language = "English",

series = "2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017",

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Fan, D, Chen, X, Zhang, T, Chen, X, Liu, G, Owais, HM, Kim, H, Tian, Y, Zhang, W & Huang, Q 2017, Design of anthropomorphic robot bionic eyes. in 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, vol. 2018-January, Institute of Electrical and Electronics Engineers Inc., pp. 2050-2056, 2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017, Macau, China, 5/12/17. https://doi.org/10.1109/ROBIO.2017.8324721

Design of anthropomorphic robot bionic eyes. / Fan, Di; Chen, Xiaopeng; Zhang, Taoran et al.
2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017. Institute of Electrical and Electronics Engineers Inc., 2017. p. 2050-2056 (2017 IEEE International Conference on Robotics and Biomimetics, ROBIO 2017; Vol. 2018-January).

Research output: Chapter in Book/Report/Conference proceeding › Conference contribution › peer-review

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AB - This paper presents a new type of anthropomorphic robot bionic eyes. Most existing eye mechanisms are serial mechanism and have no degree of freedom (DOF) for eye roll, however, the serial mechanism is not compact enough and the eye roll movement is crucial for image stabilization, consequently, we design a 3 DOFs compact serial-parallel eye mechanism which can implement the eye spherical movements without eccentricity, the diameter of the eyeball is only 45 mm, the total weight of the eye mechanism is 300 g, each of the eye contains two cameras (long and short focal length lens) for mimicking the perception features of human eyes. We also design a 3 DOFs serial neck mechanism for improving the flexibility and the ability of image stabilization of the robot bionic eyes. The neck and each of the eye contain inertial sensors, the robot bionic eyes can implement the vestibuloocular reflex like hybrid image stabilization function in two-stage by using the neck and eye mechanisms. The robot bionic eyes contain completely the same number of DOFs with human which is beneficial to human-robot interaction.

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PB - Institute of Electrical and Electronics Engineers Inc.

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ER -

Design of anthropomorphic robot bionic eyes

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Keywords

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