On Coordinated Head-Eye Motion Control of a Humanoid Robot

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.