A Cartesian 6-DoF Gaze Controller for Humanoid Robots

  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},
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
Highly Cited
This paper has 43 citations. REVIEW CITATIONS

From This Paper

Figures, tables, results, connections, and topics extracted from this paper.
15 Extracted Citations
25 Extracted References
Similar Papers

Citing Papers

Publications influenced by this paper.
Showing 1-10 of 15 extracted citations

Referenced Papers

Publications referenced by this paper.
Showing 1-10 of 25 references

Modular Cartesian Controllers for Humanoid Robots: Design and Implementation on the iCub

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

Similar Papers

Loading similar papers…