仿人机器人的头眼协调运动控制研究

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顾立忠, 苏剑波. 仿人机器人的头眼协调运动控制研究[J]. 机器人, 2008, 30(2): 165-170.. GU Li-zhong, SU Jian-bo. On Coordinated Head-Eye Motion Control of a Humanoid Robot. ROBOT, 2008, 30(2): 165-170..

摘要针对机器人注视静态目标的任务，提出一种头眼协调运动的控制策略．通过使双目聚焦在同一个注视点，得到注视点的空间坐标和头眼的期望运动转角；研究了机器人头部转动时双目的补偿运动模型及相应的控制算法．实验表明，该控制策略能实现精确的3D头眼协调运动控制．

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	顾立忠
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关键词 ：仿人机器人头部系统, 头眼协调, 注视点

Abstract：A coordinated head-eye motion control strategy is presented for the task of robot gazing at a static target.By making the two eyes focus on the same fixation point,the space coordinates of the fixation point are obtained and the desired motion angles of the robot head and eyes are found.Compensatory movement models for two eyes of the head-moving robot and the corresponding control algorithm are studied.Experiments show that the control strategy can realize 3D coordinated head-eye motion control accurately.

Key words： head system of humanoid robot head-eye coordination fixation point

收稿日期: 2007-07-11

TP24

基金资助:国家自然科学基金资助项目（60428303）

作者简介: 顾立忠（1977- ），男，博士生．研究领域：机器视觉，人机交互．
苏剑波（1969- ），男，教授，博士生导师．研究领域：多传感器信息融合，机器学习与人机交互．

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https://robot.sia.cn/CN/ 或 https://robot.sia.cn/CN/Y2008/V30/I2/165

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