My thesis covers the design and fabrication of novel humanoid robotic eyes and
the process of interfacing them with the industry robot, Baxter. The mechanism can reach
a maximum saccade velocity comparable to that of human eyes. Unlike current robotic
eye designs, these eyes have independent left-right and up-down gaze movements
achieved using a servo and DC motor, respectively. A potentiometer and rotary encoder
enable closed-loop control. An Arduino board and motor driver control the assembly. The
motor requires a 12V power source, and all other components are powered through the
Arduino from a PC.
Hand-eye coordination research influenced how the eyes were programmed to
move relative to Baxter’s grippers. Different modes were coded to adjust eye movement
based on the durability of what Baxter is handling. Tests were performed on a component
level as well as on the full assembly to prove functionality. / Includes bibliography. / Thesis (M.S.)--Florida Atlantic University, 2018. / FAU Electronic Theses and Dissertations Collection
| Identifer | oai:union.ndltd.org:fau.edu/oai:fau.digital.flvc.org:fau_40747 |
| Contributors | Olson, Stephanie T. (author), Engeberg, Erik (Thesis advisor), Florida Atlantic University (Degree grantor), College of Engineering and Computer Science, Department of Ocean and Mechanical Engineering |
| Publisher | Florida Atlantic University |
| Source Sets | Florida Atlantic University |
| Language | English |
| Detected Language | English |
| Type | Electronic Thesis or Dissertation, Text |
| Format | 195 p., application/pdf |
| Rights | Copyright © is held by the author, with permission granted to Florida Atlantic University to digitize, archive and distribute this item for non-profit research and educational purposes. Any reuse of this item in excess of fair use or other copyright exemptions requires permission of the copyright holder., http://rightsstatements.org/vocab/InC/1.0/ |
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