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The Importance of Gaze Control Mechanism on Vision-based Motion Control of a Biped Robot

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4 Author(s)
Shun Ushida ; Graduate School of Information Sciences Tohoku University, 6-6-01, Aramaki-Aza-Aoba, Aoba Sendai 980-8579, Japan. Email: ; Kousuke Yoshimi ; Takayuki Okatani ; Koichiro Deguchi

We are motivated to deal with a biped robot by the existence of an almighty powerful control mechanism of a human. Although a visual information, in particular, plays an 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

Published in:

2006 IEEE/RSJ International Conference on Intelligent Robots and Systems

Date of Conference:

9-15 Oct. 2006