A fast robotic eye/head system: Eye design and performance

Abstract

We describe here the initial stages in the design of a bin- ocular control system, to be mounted on a 3-D head controller. T his system is intended as a test-bed for the study of both robotic and biological gaze control. As in nature: (1) geometry relies on parallel actuators; (2) the visual sensor is mounted inside the eye to permit error-based control; (3) the intended use of an integrated (bilateral) control scheme to coordinate the trajectories of both eyes and the head. Results on the mechanical and sensory properties of the artificial eye are presented.