Prioritized Kinematic Control of Joint-Constrained Head-Eye Robots using the Intermediate Value Approach

09/24/2018
by   Steven Jens Jorgensen, et al.
0

Existing gaze controllers for head-eye robots can only handle single fixation points. Here, a generic controller for head-eye robots capable of executing simultaneous and prioritized fixation trajectories in Cartesian space is presented. This enables the specification of multiple operational-space behaviors with priority such that the execution of a low priority head orientation task does not disturb the satisfaction of a higher prioritized eye gaze task. Through our approach, the head-eye robot inherently gains the biomimetic vestibulo-ocular reflex (VOR), which is the ability of gaze stabilization under self generated movements. The described controller utilizes recursive null space projections to encode joint limit constraints and task priorities. To handle the solution discontinuity that occurs when joint limit tasks are inserted or removed as a constraint, the Intermediate Desired Value (IDV) approach is applied. Experimental validation of the controller's properties is demonstrated with the Dreamer humanoid robot. Our contribution is on (1) the formulation of a desired gaze task as an operational space orientation task, (2) the application details of the IDV approach for the prioritized head-eye robot controller that can handle intermediate joint constraints, and (3) a minimum-jerk specification for behavior and trajectory generation in Cartesian space.

READ FULL TEXT
research
07/26/2018

Deep Pictorial Gaze Estimation

Estimating human gaze from natural eye images only is a challenging task...
research
10/23/2020

Self-Learning Transformations for Improving Gaze and Head Redirection

Many computer vision tasks rely on labeled data. Rapid progress in gener...
research
06/04/2023

Accessible Robot Control in Mixed Reality

A novel method to control the Spot robot of Boston Dynamics by Hololens ...
research
10/06/2022

Knowing Where to Look: A Planning-based Architecture to Automate the Gaze Behavior of Social Robots

Gaze cues play an important role in human communication and are used to ...
research
03/06/2020

Toward Adaptive Guidance: Modeling the Variety of User Behaviors in Continuous-Skill-Improving Experiences of Machine Operation Tasks

An adaptive guidance system that supports equipment operators requires a...
research
10/09/2020

Controllable Continuous Gaze Redirection

In this work, we present interpGaze, a novel framework for controllable ...
research
09/14/2019

Unclogging Our Arteries: Using Human-Inspired Signals to Disambiguate Navigational Intentions

People are proficient at communicating their intentions in order to avoi...

Please sign up or login with your details

Forgot password? Click here to reset