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Adaptive predictive gaze control of a redundant humanoid robot head

: Milighetti, Giulio; Vallone, Luca; Luca, Alessandro De


Amato, N.M. ; Institute of Electrical and Electronics Engineers -IEEE-; Robotics Society of Japan -RSJ-:
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2011 : San Francisco, California, USA, 25 - 30 September 2011
Piscataway/NJ: IEEE, 2011
ISBN: 978-1-61284-455-8
ISBN: 978-1-61284-454-1
S.3192-3198 (Vol.4)
International Conference on Intelligent Robots and Systems (IROS) <2011, San Francisco/Calif.>
Fraunhofer IOSB ()

A general concept for the gaze control of a redundant humanoid robot head is presented. It is based on an adaptive Kalman filter that predicts the next state of the moving target, processing the position information provided by a headmounted stereo camera. The trajectory tracking control at the task level combines a proportional feedback and a feedforward term. The gains of both control actions are adapted in order to provide optimal dynamic response for unknown arbitrary target trajectories. Inverse differential kinematics is evaluated so that human-like joint motions are achieved. To exploit kinematic redundancy, a weighted pseudoinverse is realized that takes into account different optimization criteria. Additional self-motions of the head are also considered. Experimental results on the head of the humanoid robot ARMAR-III are presented.