A Cartesian 6-DoF Gaze Controller for Humanoid Robots

@inproceedings{Roncone2016AC6,
  title={A Cartesian 6-DoF Gaze Controller for Humanoid Robots},
  author={Alessandro Roncone and Ugo Pattacini and Giorgio Metta and Lorenzo Natale},
  booktitle={Robotics: Science and Systems},
  year={2016}
}
In robotic systems with moving cameras control of gaze allows for image stabilization, tracking and attention switching. Proper integration of these capabilities lets the robot exploit the kinematic redundancy of the oculomotor system to improve tracking performance and extend the field of view, while at the same time stabilize vision to reduce image blur induced by the robot’s own movements. Gaze may be driven not only by vision but also by other sensors (e.g. inertial sensors or motor… CONTINUE READING
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Modular Cartesian Controllers for Humanoid Robots: Design and Implementation on the iCub

  • U. Pattacini
  • PhD thesis, Istituto Italiano di Tecnologia,
  • 2011
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