Design of a Humanoid Robot Eye

摘要

This chapter addresses the design of a robot eye featuring the mechanics and motion\ncharacteristics of a human one. In particular the goal is to provide guidelines for the\nimplementation of a tendon driven robot capable to emulate saccadic motions.\nIn the first part of this chapter the physiological and mechanical characteristics of the eyeplant1\nin humans and primates will be reviewed. Then, the fundamental motion strategies\nused by humans during saccadic motions will be discussed, and the mathematical\nformulation of the relevant Listing’s Law and Half-Angle Rule, which specify the geometric\nand kinematic characteristics of ocular saccadic motions, will be introduced.