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 |
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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 | |
Publication status | Published - Jun 2003 |
Externally published | Yes |
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Keywords
- Active vision
- Binocular tracking
- Dynamic model
- Kinematic model
ASJC Scopus subject areas
- Industrial and Manufacturing Engineering
- Mechanical Engineering
Cite this
An active binocular vision head, its kinematic analysis and derivation of equations of motion. / Kumarawadu, Sisil; Watanabe, Keigo; Kiguchi, Kazuo; Izumi, Kiyotaka.
In: JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing, Vol. 46, No. 2, 06.2003, p. 754-765.Research output: Contribution to journal › Article
}
TY - JOUR
T1 - An active binocular vision head, its kinematic analysis and derivation of equations of motion
AU - Kumarawadu, Sisil
AU - Watanabe, Keigo
AU - Kiguchi, Kazuo
AU - Izumi, Kiyotaka
PY - 2003/6
Y1 - 2003/6
N2 - 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.
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.
KW - Active vision
KW - Binocular tracking
KW - Dynamic model
KW - Kinematic model
UR - http://www.scopus.com/inward/record.url?scp=0042324380&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=0042324380&partnerID=8YFLogxK
U2 - 10.1299/jsmec.46.754
DO - 10.1299/jsmec.46.754
M3 - Article
AN - SCOPUS:0042324380
VL - 46
SP - 754
EP - 765
JO - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
JF - JSME International Journal, Series C: Mechanical Systems, Machine Elements and Manufacturing
SN - 1344-7653
IS - 2
ER -