Design of a 2PAM-1M driven robot eye

机译：2PAM-1M驱动的机器人眼的设计

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This paper presents the mechanical design for a novel robot eye based on two pneumatic artificial muscles (PAM) and one Motor. Movement of the eye is simplified as three degree of freedom rotation model at this stage. The control structure for driving the robot eye moving in any Listing's Law compatible trajectory is proposed, after comparing with the traditional one for three degree of freedom movement control. A common used Fick Sequence is introduced to describe the problem about torsion, which is an important topic in the eye movement research. The method for solving third rotation and finally a simulation is carried out. The result of this paper could be used for further research in generating the human-like eye movement trajectory and visual information acquisition.

机译：本文介绍了一种基于两根气动人工肌肉（PAM）和一台电机的新型机器人眼的机械设计。在此阶段，将眼睛的运动简化为三自由度旋转模型。在与传统的三自由度运动控制方法进行比较之后，提出了一种驱动机械手的眼睛在清单法则兼容的轨迹中运动的控制结构。介绍了常用的“菲克序列”（Fick Sequence）来描述关于扭转的问题，这是眼动研究中的重要课题。求解第三次旋转并最终进行仿真的方法。本文的结果可用于进一步研究类人眼运动轨迹和视觉信息获取。

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来源
《Proceedings of the Seventh international conference on fluid power transmission and control》|2009年|p.385-388|共4页
会议地点 Hangzhou(CN);Hangzhou(CN)
作者
Yang Zhang; Xuanyin Wang; Giorgio Cannata;
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作者单位

The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China;

The State Key Laboratory of Fluid Power Transmission and Control, Zhejiang University, Hangzhou, China;

Mechatronics and Automatic Control Laboratory, University of Genoa, Genoa,Italy;

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原文格式 PDF
正文语种 eng
中图分类液压传动;
关键词
Pneumatic Artificial Muscle; Bionic eye; Listing's Law; Quaternion;

机译：气动人工肌肉；仿生眼；李斯定律；四元数;

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Design of a 2PAM-1M driven robot eye

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