CONTENTS
16.1 Introduction ................................................................................................ 296
16.1.1 State of the Art ................................................................................ 298
16.1.2 Motivation ....................................................................................... 299
16.1.3 Objectives........................................................................................ 299
16.2 Methods .......................................................................................................300
16.2.1 Robots ..............................................................................................300
16.2.1.1 ELIAS ................................................................................300
16.2.1.2 EDDIE ............................................................................... 301
16.2.2 Camera Motion Device ................................................................. 302
16.2.3 Eye and Head Tracker ...................................................................304
16.2.4 Teleoperation Channel ..................................................................305
16.3 Discussion and Results .............................................................................306
16.3.1 Handling of Eye Vergence ............................................................ 306
16.3.2 Camera Motion Device .................................................................306
16.3.3 Eye and Head Tracker ...................................................................308
16.4 Conclusion and Future Work ...................................................................309
Acknowledgments .............................................................................................. 310
References ............................................................................................................. 310
16
A Test Environment for Studying the
Human-Likeness of Robotic Eye Movements*
Stefan Kohlbecher, Klaus Bartl, and Erich Schneider
University of Munich Hospital
Munich, Germany
Jürgen Blume, Alexander Bannat, Stefan Sosnowski,
Kolja Kühnlenz, and Gerhard Rigoll
Technische Universität München
Munich, Germany
Frank Wallhoff
Jade University of Applied Sciences
Oldenburg, Germany
* Portions reprinted, with permission, from “Experimental Platform for Wizard-of-Oz
Evaluations of Biomimetic Active Vision in Robots,” 2009 IEEE International Conference on
Robotics and Biomimetics (ROBIO), © 2009 IEEE.
295
16.1 Introduction ................................................................................................ 296
16.1.1 State of the Art ................................................................................ 298
16.1.2 Motivation ....................................................................................... 299
16.1.3 Objectives........................................................................................ 299
16.2 Methods .......................................................................................................300
16.2.1 Robots ..............................................................................................300
16.2.1.1 ELIAS ................................................................................300
16.2.1.2 EDDIE ............................................................................... 301
16.2.2 Camera Motion Device ................................................................. 302
16.2.3 Eye and Head Tracker ...................................................................304
16.2.4 Teleoperation Channel ..................................................................305
16.3 Discussion and Results .............................................................................306
16.3.1 Handling of Eye Vergence ............................................................ 306
16.3.2 Camera Motion Device .................................................................306
16.3.3 Eye and Head Tracker ...................................................................308
16.4 Conclusion and Future Work ...................................................................309
Acknowledgments .............................................................................................. 310
References ............................................................................................................. 310
16
A Test Environment for Studying the
Human-Likeness of Robotic Eye Movements*
Stefan Kohlbecher, Klaus Bartl, and Erich Schneider
University of Munich Hospital
Munich, Germany
Jürgen Blume, Alexander Bannat, Stefan Sosnowski,
Kolja Kühnlenz, and Gerhard Rigoll
Technische Universität München
Munich, Germany
Frank Wallhoff
Jade University of Applied Sciences
Oldenburg, Germany
* Portions reprinted, with permission, from “Experimental Platform for Wizard-of-Oz
Evaluations of Biomimetic Active Vision in Robots,” 2009 IEEE International Conference on
Robotics and Biomimetics (ROBIO), © 2009 IEEE.
295