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Implementation of Listing's Law for a Tendon Driven Robot Eye

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2 Author(s)
Giorgio Cannata ; Mechatronics and Automatic Control Laboratory, Department of Communications, Computer and System Science, University of Genova, Via Opera Pia 13, 16145 Genova, Italy. Email: cannata@dist.unige.it ; Marco Maggiali

This paper presents a model for a tendon driven robot eye designed to emulate the actual saccadic and smooth pursuit movements performed by human eyes. Physiological saccadic motions obey the so called Listing's law which constrains the admissible eye's angular velocities. The paper discusses conditions making possible to implement the Listing's law on a purely mechanical basis, i.e. without active control

Published in:

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

9-15 Oct. 2006