Design of a 2PAM-1M driven robot eye
This paper presents the mechanical design for a novel robot eye based on two pneumatic artificial muscles (PAM) and one Motor. Movement of the eye is simplified as three degree of freedom rotation model at this stage. The control structure for driving the robot eye moving in any Listings Law compatible trajectory is proposed, after comparing with the traditional one for three degree of freedom movement control. A common used Fick Sequence is introduced to describe the problem about torsion, which is an important topic in the eye movement research. The method for solving third rotation and finally a simulation is carried out. The result of this paper could be used for further research in generating the human-like eye movement trajectory and visual information acquisition.
Pneumatic Artificial Muscle Bionic eye Listings Law Quaternion
Yang Zhang Xuanyin Wang Giorgio Cannata
The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, Chi Mechatronics and Automatic Control Laboratory, University of Genoa, Genoa,Italy
国际会议
杭州
英文
385-388
2009-04-08（万方平台首次上网日期，不代表论文的发表时间）