Modeling, Design and Analysis of a Biomimetic Eyeball-like Robot with Accommodation Mechanism

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	Modeling, Design and Analysis of a Biomimetic Eyeball-like Robot with Accommodation Mechanism
	Zhang Y(张阳); Liu JG(刘金国); Qi, Keqi; Liu ZW(刘志伟)
	2013
会议名称	2013 IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议日期	December 12-14, 2013
会议地点	Shenzhen, China
页码	861-866
通讯作者	张阳
中文摘要	This paper presents a prototype design and system analysis of a novel biomimetic eyeball-like robot (BEBOT) with mechanism implementing the process of accommodation. The mechanism proposed is inspired by the evidence of anatomy results of human eyeball, which has the ability to percept visual information of target object from far to near distance clearly. BEBOT implements this function by bio-inspired design with annular piezoelectric actuators (PZT) stack and adaptive lens system (ASL). Anterior side of ALS is a plano-convex lens fixed on the body of robotic eyeball, while posterior side includes liquid sealed by motion platform with soft optical membrane. With proposed mechanism, the surface of posterior side deformed as the cap of sphere in different radius accordingly to the displacement of PZT actuator. Variation of the curvature represented by the radius is equivalent to the adaption of focal length in perspective of optical system. Thus, targets in a variable range of distance are projected on artificial retina based on vision sensor. Firstly, the simplified model for human eyeball is described based on anatomical research and bionic engineering. And then, detailed designs of the prototype and system architecture are illustrated either. Finally, the characteristic analysis of mechanism and optical properties are illustrated.
收录类别	EI ; CPCI（ISTP）
产权排序	1
会议录	Proceeding of the IEEE International Conference on Robotics and Biomimetics (ROBIO)
会议录出版者	IEEE
会议录出版地	NEW YORK
语种	英语
ISBN号	978-1-4799-2744-9
WOS记录号	WOS:000352739000142
内容类型	会议论文
源URL	[http://ir.sia.cn/handle/173321/13837]
专题	沈阳自动化研究所_空间自动化技术研究室
推荐引用方式 GB/T 7714	Zhang Y,Liu JG,Qi, Keqi,et al. Modeling, Design and Analysis of a Biomimetic Eyeball-like Robot with Accommodation Mechanism[C]. 见:2013 IEEE International Conference on Robotics and Biomimetics (ROBIO). Shenzhen, China. December 12-14, 2013.