My thesis covers the design and fabrication of novel humanoid robotic eyes and the process of interfacing them with the industry robot, Baxter. The mechanism can reach a maximum saccade velocity comparable to that of human eyes. Unlike current robotic eye designs, these eyes have independent left-right and up-down gaze movements achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder enable closed-loop control. An Arduino board and motor driver control the assembly. The motor requires a 12V power source, and all other components are powered through the Arduino from a PC.
Hand-eye coordination research influenced how the eyes were programmed to move relative to Baxter’s grippers. Different modes were coded to adjust eye movement based on the durability of what Baxter is handling. Tests were performed on a component level as well as on the full assembly to prove functionality.
|Commitee:||Hashemi, Javad, Masory, Oren|
|School:||Florida Atlantic University|
|School Location:||United States -- Florida|
|Source:||MAI 58/02M(E), Masters Abstracts International|
|Subjects:||Mechanical engineering, Robotics|
|Keywords:||Animatronics, Humanoid robots, Robotics|
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