High response master-slave control eye robot system using gaze tracking data

Ayato Kanada, Tomoaki Mashimo, Tetsuto Minami, Kazuhiko Terashima

Research output: Chapter in Book/Report/Conference proceedingConference contribution

4 Citations (Scopus)

Abstract

We propose an eye robot system with master-slave control using operator-gaze tracking data, which can produce a high response level such as that of the human eyes. The operators can move a remote robot camera by only moving their eye (master) in front of an eye tracking apparatus and obtain visual information of the environment surrounding the robot's eye (slave). The use of ultrasonic motors has enabled the high responsiveness of the robot eye and the compactness of the robot body. Our graphical user interface (GUI) makes the operation intuitive. We evaluate the robot system from modeling the ultrasonic motor model to the usability of GUI. Finally, the proposed robot system's usability compares well with that of the joystick typically used to operate robots.

Original languageEnglish
Title of host publicationIROS Hamburg 2015 - Conference Digest
Subtitle of host publicationIEEE/RSJ International Conference on Intelligent Robots and Systems
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages937-943
Number of pages7
ISBN (Electronic)9781479999941
DOIs
Publication statusPublished - Dec 11 2015
Externally publishedYes
EventIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015 - Hamburg, Germany
Duration: Sep 28 2015Oct 2 2015

Publication series

NameIEEE International Conference on Intelligent Robots and Systems
Volume2015-December
ISSN (Print)2153-0858
ISSN (Electronic)2153-0866

Other

OtherIEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2015
CountryGermany
CityHamburg
Period9/28/1510/2/15

All Science Journal Classification (ASJC) codes

  • Control and Systems Engineering
  • Software
  • Computer Vision and Pattern Recognition
  • Computer Science Applications

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  • Cite this

    Kanada, A., Mashimo, T., Minami, T., & Terashima, K. (2015). High response master-slave control eye robot system using gaze tracking data. In IROS Hamburg 2015 - Conference Digest: IEEE/RSJ International Conference on Intelligent Robots and Systems (pp. 937-943). [7353483] (IEEE International Conference on Intelligent Robots and Systems; Vol. 2015-December). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/IROS.2015.7353483