NDLI: Robot Head Motion Control with an Emphasis on Realism of Neck

Content Provider	Springer Nature Link
Author	Rajruangrabin, Jartuwat Popa, Dan O.
Copyright Year	2010
Abstract	Important aspects of present-day humanoid robot research is to make such robots look realistic and human-like, both in appearance, as well as in motion and mannerism. In this paper, we focus our study on advanced control leading to realistic motion coordination for a humanoid’s robot neck and eyes while tracking an object. The motivating application for such controls is conversational robotics, in which a robot head “actor” should be able to detect and make eye contact with a human subject. Therefore, in such a scenario, the 3D position and orientation of an object of interest in space should be tracked by the redundant head–eye mechanism partly through its neck, and partly through its eyes. In this paper, we propose an optimization approach, combined with a real-time visual feedback to generate the realistic robot motion and robustify it. We also offer experimental results showing that the neck–eye motion obtained from the proposed algorithm is realistic comparing to the head–eye motion of humans.
Starting Page	163
Ending Page	190
Page Count	28
File Format	PDF
ISSN	09210296
Journal	Journal of Intelligent & Robotic Systems
Volume Number	63
Issue Number	2
e-ISSN	15730409
Language	English
Publisher	Springer Netherlands
Publisher Date	2010-09-25
Publisher Place	Dordrecht
Access Restriction	Subscribed
Subject Keyword	Humanoid robots Human–robot interaction Eye–neck coordination Robot head human tracking Control, Robotics, Mechatronics Mechanical Engineering Artificial Intelligence (incl. Robotics) Electrical Engineering
Content Type	Text
Resource Type	Article
Subject	Industrial and Manufacturing Engineering Artificial Intelligence Control and Systems Engineering Mechanical Engineering Electrical and Electronic Engineering Software

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1	Ministry of Education (GoI), Department of Higher Education	Sanctioning Authority	https://www.education.gov.in/ict-initiatives
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4	Project PI / Joint PI	Principal Investigator and Joint Principal Investigators of the project	Dr. B. Sutradhar bsutra@ndl.gov.in Prof. Saswat Chakrabarti will be added soon
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