Vision based motion control for a humanoid head

This paper describes the design of a motion control algorithm for a humanoid robotic head, which consists of a neck with four degrees of freedom and two eyes (a stereo pair system) that tilt on a common axis and rotate sideways freely. The kinematic and dynamic properties of the head are analyzed and modeled using screw theory. The motion control algorithm is designed to receive, as an input, the output of a vision processing algorithm and to exploit the redundancy of the system for the realization of the movements. This algorithm is designed to enable the head to focus on and to follow a target, showing human-like motions. The performance of the control algorithm has been tested in a simulated environment and, then, experimentally applied to the real humanoid head

Motion control of the Twente humanoid head

In this work, we present the design and the realization of the motion control algorithm implemented in the Twente hu- manoid head, a seven degrees of freedom (dof) robotic sys- tem. The aim of the project is to have a humanoid head that can serve as a research platform for human-machine interac- tion purposes. The head should not only be able to percieve its environment and track objects, but also be able to move in a human-like way, i.e. to reproduce the motions of human beings and to mime the human expressions

Port-Hamiltonian modeling for soft-finger manipulation

In this paper, we present a port-Hamiltonian model of a multi-fingered robotic hand, with soft-pads, while grasping and manipulating an object. The algebraic constraints of the interconnected systems are represented by a geometric object, called Dirac structure. This provides a powerful way to describe the non-contact to contact transition and contact viscoelasticity, by using the concepts of energy flows and power preserving interconnections. Using the port based model, an Intrinsically Passive Controller (IPC) is used to control the internal forces. Simulation results validate the model and demonstrate the effectiveness of the port-based approach

Modeling and design of energy efficient variable stiffness actuators

In this paper, we provide a port-based mathematical framework for analyzing and modeling variable stiffness actuators. The framework provides important insights in the energy requirements and, therefore, it is an important tool for the design of energy efficient variable stiffness actuators. Based on new insights gained from this approach, a novel conceptual actuator is presented. Simulations show that the apparent output stiffness of this actuator can be dynamically changed in an energy efficient way

The Twente humanoid head

This video shows the results of the project on the mechatronic development of the Twente humanoid head. The mechanical structure consists of a neck with four degrees of freedom (DOFs) and two eyes (a stereo pair system) which tilt on a common axis and rotate sideways freely providing a three more DOFs. The motion control algorithm is designed to receive, as an input, the output of a biological-inspired vision processing algorithm and to exploit the redundancy of the joints for the realization of the movements. The expressions of the humanoid head are implemented by projecting light from the internal part of the translucent plastic cover

Design and control of the Twente humanoid head

The Twente humanoid head features a four degree of freedom neck and two eyes that are implemented by using cameras. The cameras tilt on a common axis, but can rotate sideways independently, thus implementing another three degrees of freedom. A vision processing algorithm has been developed that selects interesting targets in the camera images. The image coordinates of the selected target are provided to a motion control algorithm, which controls the head to look at the target. The degrees of freedom and redundancy of the system are controlled such that natural human-like motions are obtained. The head is capable of showing expressions through mouth and eyebrows by means of light projection from the inside part of the exterior shell

Non-Riemannian vortex geometry of rotational viscous fluids and breaking of the acoustic Lorentz invariance

Acoustic torsion recently introduced in the literature (Garcia de Andrade,PRD(2004),7,64004) is extended to rotational incompressible viscous fluids represented by the generalised Navier-Stokes equation. The fluid background is compared with the Riemann-Cartan massless scalar wave equation, allowing for the generalization of Unruh acoustic metric in the form of acoustic torsion, expressed in terms of viscosity, velocity and vorticity of the fluid. In this work the background vorticity is nonvanishing but the perturbation of the flow is also rotational which avoids the problem of contamination of the irrotational perturbation by the background vorticity. The acoustic Lorentz invariance is shown to be broken due to the presence of acoustic torsion in strong analogy with the Riemann-Cartan gravitational case presented recently by Kostelecky (PRD 69,2004,105009). An example of analog gravity describing acoustic metric is given based on the teleparallel loop where the acoustic torsion is given by the Lense-Thirring rotation and the acoustic line element corresponds to the Lense-Thirring metric

Traversable Wormholes Construction in 2+1 Dimensions

We study traversable Lorentzian wormholes in the three-dimensional low energy string theory by adding some matter source involving a dilaton field. It will be shown that there are two-different types of wormhole solutions such as BTZ and black string wormholes depending on the dilaton backgrounds, respectively. We finally obtain the desirable solutions which confine exotic matter near the throat of wormhole by adjusting NS charge.Comment: 12 pages, 4 figures, JHEP style, one reference adde