<title>Four-degree-of-freedom robot head for active computer vision</title>

Abstract

The design of a robot head, Neuto, for active computer vision tasks is described. The head/eye platform uses a common elevation configuration and has four degrees-of-freedom. All joints are driven by dc servo motors coupled with incremental optical encoders and minimum backlash gear-boxes. Details of the mechanical design, head controller design, architecture of the active vision system, and the performance of the head are presented.