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Fig. 8. External parallelogram mechanism for decoupling motions of an eye ball The image on Fig. 7 shows an assembly of eyes with the eyeballs, gearwheels and the motors with their attachments. The eyeball has 3 movable axes: eyeball up/down and left/right and the upper lid. The eyeball rotates in an external attachment, while up/down rotational motion is realize with using special planar parallelogram as it is shown in Fig. 8.

Figure 8 External parallelogram mechanism for decoupling motions of an eye ball The image on Fig. 7 shows an assembly of eyes with the eyeballs, gearwheels and the motors with their attachments. The eyeball has 3 movable axes: eyeball up/down and left/right and the upper lid. The eyeball rotates in an external attachment, while up/down rotational motion is realize with using special planar parallelogram as it is shown in Fig. 8.

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Fig. 1. Zygote's 3D realistic human model with engineering drawings of the upper body, the neck and the head construction receptors, whereas the final executive elements are the effectors. Certain basic problems connected with reproduction of function of lively organisms in design and construction of robots undertakes biomechanics and cybernetics. It should be noted, that biomechanics is a study of movement and mechanisms of motion with special emphasis of human beings. By exploiting very simple biocybernetic models, it is possible to create mechanical devices similar to human, not only from geometrical point of view, but some functional characteristics too. Such a models can imitate behaviour and living functions of a human body, arms, legs, head, and by applying artificial receptors, can extract information from the environment for executing advisable exercices similarly to the human. Recent developments in the area of service robotics show an increasing interest in personal robots. Those personal robots can help to handle daily work and to entertain people. Both tasks require a robot that is able to communicate with people in a natural way. The communication between humans is not only based on spoken and written words. Several aspects like gestures, mimic and movements play an important role. Current robots lack the ability to communicate with humans in a natural way. An important part of non-verbal interaction are the movements of neck, eyes and the upper part of the body.
Fig. 1. Zygote's 3D realistic human model with engineering drawings of the upper body, the neck and the head construction receptors, whereas the final executive elements are the effectors. Certain basic problems connected with reproduction of function of lively organisms in design and construction of robots undertakes biomechanics and cybernetics. It should be noted, that biomechanics is a study of movement and mechanisms of motion with special emphasis of human beings. By exploiting very simple biocybernetic models, it is possible to create mechanical devices similar to human, not only from geometrical point of view, but some functional characteristics too. Such a models can imitate behaviour and living functions of a human body, arms, legs, head, and by applying artificial receptors, can extract information from the environment for executing advisable exercices similarly to the human. Recent developments in the area of service robotics show an increasing interest in personal robots. Those personal robots can help to handle daily work and to entertain people. Both tasks require a robot that is able to communicate with people in a natural way. The communication between humans is not only based on spoken and written words. Several aspects like gestures, mimic and movements play an important role. Current robots lack the ability to communicate with humans in a natural way. An important part of non-verbal interaction are the movements of neck, eyes and the upper part of the body.
The humanoid robot ROMAN (see Fig. 2) of the University of Kaiserslautern is designed to both simulate facial expressions of humans and perceive the environment with a complex sensor system including stereo-camera system, artficial nose and several microphones. In contrast to
The humanoid robot ROMAN (see Fig. 2) of the University of Kaiserslautern is designed to both simulate facial expressions of humans and perceive the environment with a complex sensor system including stereo-camera system, artficial nose and several microphones. In contrast to
The mechanism consists of the base, rotational fork 1 driven by electric motor with gear, special cross yoke beared by ball bearing in the fork 1 for inclination forward-backward and fork 2 for inclination left-right side beared by ball bearing in the cross yoke. Driving forces (torques) are generated by electric motors with gears choosen in such a way, that typical compact solution of the motor with planetary gear is mounted to the fork (1, 2) and each one propels by small toothed wheel the big one mounted to the cross yoke. The only problem is with the gravitational forces (generated external torques) from the main part of the construction. The total mass of the body is estimated up to 50 kg. To compensate (partially) the external torque over horizontal axes produced by gravitational forces, in theproposed solution it has been applied special additional bridges attached outside the cross yoke on each inclination axis with elastic elements for compensating changes of potential energy, Le. external springs which can be seen in Fig. 3 and 4.
The mechanism consists of the base, rotational fork 1 driven by electric motor with gear, special cross yoke beared by ball bearing in the fork 1 for inclination forward-backward and fork 2 for inclination left-right side beared by ball bearing in the cross yoke. Driving forces (torques) are generated by electric motors with gears choosen in such a way, that typical compact solution of the motor with planetary gear is mounted to the fork (1, 2) and each one propels by small toothed wheel the big one mounted to the cross yoke. The only problem is with the gravitational forces (generated external torques) from the main part of the construction. The total mass of the body is estimated up to 50 kg. To compensate (partially) the external torque over horizontal axes produced by gravitational forces, in theproposed solution it has been applied special additional bridges attached outside the cross yoke on each inclination axis with elastic elements for compensating changes of potential energy, Le. external springs which can be seen in Fig. 3 and 4.
Fig. 6. Obtaining results of compensating the gravitational torque Fig. 5. The scheme of generating antigravitational torque
Fig. 6. Obtaining results of compensating the gravitational torque Fig. 5. The scheme of generating antigravitational torque
Fig. 4. Engineering drawing and scheme of the 3DOF neck
Fig. 4. Engineering drawing and scheme of the 3DOF neck
Fig. 7. New version of the artificial eyes ee Cae ns <> ad Artificial spine with the frame of the corpus (body) and with the neck is shown on the animation with the shell-shape of human body. Then they was assembled together to show. how accurate the design was prepared. Of course there are some differences comes from technical and mechanical performances of the design, but in every step we was deeply investigated it behind and against of each even small fragment and then we was decided which solution will be good and better. It was a kind of optimization process under design circumstances and real limitations. As a result, very suitable and adequate to real nature solution has been obtained.
Fig. 7. New version of the artificial eyes ee Cae ns <> ad Artificial spine with the frame of the corpus (body) and with the neck is shown on the animation with the shell-shape of human body. Then they was assembled together to show. how accurate the design was prepared. Of course there are some differences comes from technical and mechanical performances of the design, but in every step we was deeply investigated it behind and against of each even small fragment and then we was decided which solution will be good and better. It was a kind of optimization process under design circumstances and real limitations. As a result, very suitable and adequate to real nature solution has been obtained.
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