Development of Movable binocular eye unit for Musculoskeletal Humanoid and the achivement of looking around for driving

Abstract

Nowadays, as one section of the research on driving task by the humanoid, the research on simulation of car driving using the musculoskeletal humanoid which has the human mimetic structure is important. In the research, the recognition of environments is important. For example, the human has movable eyes and recognizes environments selectively while driving using these eyes in several ways. However, cameras of the ordinary humanoid, which correspond to eyes of the human, are fixed to the head. In this study, we developed a small movable binocular eye-camera unit in order to simulate the human vision while driving. In addition, to simulate selective recognition of environments by the human, we developed the control system of recognition area. We installed the developed eye-camera unit on the musculoskeletal humanoid “Kengoro” and achieved looking around, starting driving and stopping experiments as one section of driving task.