An active binocular vision head, its kinematic analysis and derivation of equations of motion

Sisil Kumarawadu; Keigo Watanabe; Kazuo Kiguchi; Kiyotaka Izumi

doi:10.1299/jsmec.46.754

An active binocular vision head, its kinematic analysis and derivation of equations of motion

Sisil Kumarawadu, Keigo Watanabe, Kazuo Kiguchi, Kiyotaka Izumi

Research output: Contribution to journal › Article › peer-review

2 Citations (Scopus)

Abstract

This paper presents a simplistic binocular robotic head architecture and a thorough analysis of its rigid body dynamics and kinematic models. A kinematic mathematical model for online computations of desired joint angle trajectories in object centroid tracking and fixation is presented. The efficacy and the characteristics of the models derived are illustrated using dynamic computer simulations with a controller using computed torque method.

Original language	English
Pages (from-to)	754-765
Number of pages	12
Journal	JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
Volume	46
Issue number	2
DOIs	https://doi.org/10.1299/jsmec.46.754
Publication status	Published - Jun 2003
Externally published	Yes

Keywords

Active vision
Binocular tracking
Dynamic model
Kinematic model

ASJC Scopus subject areas

Mechanical Engineering
Industrial and Manufacturing Engineering

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AU - Kiguchi, Kazuo

AU - Izumi, Kiyotaka

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AB - This paper presents a simplistic binocular robotic head architecture and a thorough analysis of its rigid body dynamics and kinematic models. A kinematic mathematical model for online computations of desired joint angle trajectories in object centroid tracking and fixation is presented. The efficacy and the characteristics of the models derived are illustrated using dynamic computer simulations with a controller using computed torque method.

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KW - Binocular tracking

KW - Dynamic model

KW - Kinematic model

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An active binocular vision head, its kinematic analysis and derivation of equations of motion

Abstract

Keywords

ASJC Scopus subject areas

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