Design of a Humanoid Robot Eye: Models and Experiments

  title={Design of a Humanoid Robot Eye: Models and Experiments},
  author={Giorgio Cannata and Mirko D'Andrea and Marco Maggiali},
  journal={2006 6th IEEE-RAS International Conference on Humanoid Robots},
Eye movements have the goal of optimizing visual perception, therefore the investigation of eye motion strategies play an important role in the design of humanoid robot eye systems. Saccades in humans and primates is a significant class of ocular motions, which obey the so called Listing's Law, which constrains the admissible eye's angular velocities and ensure zero torsion during motion. In this paper we present a model of the eye plant proving that listing's law implementation is strongly… CONTINUE READING