Gaze Control on Humanoid Robot Head

This paper presents a general gaze control algorithm for humanoid robot head. Gaze control is an essential visual behavior for human-robot interaction. Calculation of the distance to fixation point is a first step to accomplish coordinated head-eye movements on humanoid robot head. We solved the problem of obtaining depth information under the condition of two eyes gazing at the point. Then we derived kinematics mathematical models of coordinated head-eye movements according to the geometry constraint of the robot head. A general humanoid robot head has been developed and experimental results demonstrate the effectiveness of the proposed algorithm.