Mechanical stabilization in robotic bionic eyes with gravity and disturbance compensations

The vibration of the robot during the movement brings various irregular motion disturbances to the robot's head, these vibration results into unstable images captures by the head-mounted vision system and therefor the vision system cannot accurately perceive the environment. This paper presents a mechanical stabilization method based on gravity and disturbance compensations, which considers and compensates the gravity influences of the mechanical structure and external disturbances. Finally, the current command of the joint motor is generated based on the compensations, which can quickly stabilize the image. We performed simulation and physical experiments to verify the performance of our proposed method.