TY - GEN
T1 - Eye motion generation in a mobile service robot 'SILBOT II'
AU - Oh, Kyung Geune
AU - Jung, Chan Yul
AU - Choi, Mun Taek
AU - Kim, Seung Jong
PY - 2010
Y1 - 2010
N2 - Face of a robot capable of facial expression has a complex structure inside consisting of many actuators, sensors, and other parts. Specially, eyes and its neighbor elements such as upper/lower eyelids, cameras and eyelids, are very densely arranged. In this paper, a compact eyeball module is suggested which is driven with Teflon tube enveloped metal wires, so that one directional motion can be made with one wire pushed or pulled by a motor. And the cylindrical and ball-type pivot parts are used in ends of the tubes and wires, so as to permit their rotation during eye movement. The performance of the suggested module is verified through the comparison between experimental and analytical results. The results are well matched with each other and the degree of positioning precision is also good.
AB - Face of a robot capable of facial expression has a complex structure inside consisting of many actuators, sensors, and other parts. Specially, eyes and its neighbor elements such as upper/lower eyelids, cameras and eyelids, are very densely arranged. In this paper, a compact eyeball module is suggested which is driven with Teflon tube enveloped metal wires, so that one directional motion can be made with one wire pushed or pulled by a motor. And the cylindrical and ball-type pivot parts are used in ends of the tubes and wires, so as to permit their rotation during eye movement. The performance of the suggested module is verified through the comparison between experimental and analytical results. The results are well matched with each other and the degree of positioning precision is also good.
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U2 - 10.1109/ARSO.2010.5679626
DO - 10.1109/ARSO.2010.5679626
M3 - Conference contribution
AN - SCOPUS:84870002403
SN - 9781424491230
T3 - Proceedings of IEEE Workshop on Advanced Robotics and its Social Impacts, ARSO
SP - 59
EP - 64
BT - 2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010 - Conference Proceedings
T2 - 2010 IEEE Workshop on Advanced Robotics and Its Social Impacts, ARSO 2010
Y2 - 26 October 2010 through 28 October 2010
ER -