The importance of gaze control mechanism on vision-based motion control of a biped robot

Shun Ushida, Kousuke Yoshimi, Takayuki Okatani, Koichiro Deguchi

Research output: Chapter in Book/Report/Conference proceedingConference contribution

13 Citations (Scopus)

Abstract

We are motivated to deal with a biped robot by an existence of almighty powerful control mechanism of human. Although a visual information, in particular, plays important role in order to realize admirable intelligence in a humanoid robot, we must assert a vision to be one of the developing sensors. In fact, there are many difficulties of both aspects of restrictive hardware resources for a vision and real-time image processing for motor control. In this paper, we clarify a structure and a nature of a visual information processing system which should be equipped with a biped robot. For this purpose, a human eye structure and its movements, and brain motor control through a central nervous system are considered as an analogy with robotics. We shall show that a gaze control mechanism like human is absolutely indispensable for a vision system of a biped robot. Furthermore, we investigate considerable differences between the human eyes and the biped robot ones. This allows us to propose a new, simple and intuitively understandable criteria, called stably gazing scope, for evaluating gaze control performance in the sense of availability of visual information for robot motion control.

Original languageEnglish
Title of host publication2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
Pages4447-4452
Number of pages6
DOIs
Publication statusPublished - 2006 Dec 1
Event2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 - Beijing, China
Duration: 2006 Oct 92006 Oct 15

Publication series

NameIEEE International Conference on Intelligent Robots and Systems

Other

Other2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006
CountryChina
CityBeijing
Period06/10/906/10/15

ASJC Scopus subject areas

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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    Ushida, S., Yoshimi, K., Okatani, T., & Deguchi, K. (2006). The importance of gaze control mechanism on vision-based motion control of a biped robot. In 2006 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2006 (pp. 4447-4452). [4059116] (IEEE International Conference on Intelligent Robots and Systems). https://doi.org/10.1109/IROS.2006.282079