Piezo-driven two-degree-of-freedom camera orientation system

Thomas Villgrattner, Heinz Ulbrich

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

13 Scopus citations

Abstract

A new two-degree-of-freedom (DoF) camera orientation system is suggested, which can be used as a head-mounted gaze-driven camera orientation device or as an artificial eye e.g. in the head of humanoid robots. Reaching the dynamics of the human oculomotoric system and at the same time being as small and as lightweight as possible are basic requirements for the presented device. In order to satisfy these terms a piezo-actuator driven parallel kinematic with a backlash-free gimbal joint has been set up. First experiments with a closed loop position controller demonstrate good step response and following behavior of the system.

Original languageEnglish
Title of host publication2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008 - Conference Proceedings
DOIs
StatePublished - 2008
Event2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008 - Chengdu, China
Duration: 21 Apr 200824 Apr 2008

Publication series

NameProceedings of the IEEE International Conference on Industrial Technology

Conference

Conference2008 IEEE International Conference on Industrial Technology, IEEE ICIT 2008
Country/TerritoryChina
CityChengdu
Period21/04/0824/04/08

Keywords

  • Camera orientation
  • Head camera
  • High speed
  • Parallel kinematic
  • Piezo-actuator
  • Robot eye

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