Accurate manipulation of anthropomorphic robotic arm based on 3D human eye gazing with posture error compensation

• Published in: Science China. Technological sciences Vol. 68; no. 2
• Main Authors: Li, Quanlin, Wang, Xianzong, Ma, Jiaji, Huang, Qianjun, Jiang, Qizhi, Chen, Wenbin, Xiong, Caihua
• Format: Journal Article
• Language: English
• Published: Beijing Science China Press 01.02.2025; Springer Nature B.V
• Subjects: Anthropomorphism; Degrees of freedom; Engineering; Error compensation; Eye movements; Head movement; Human engineering; Light refraction; Man-machine interfaces; Optimization; Pupils; Real time; Research Paper; Robot arms; Robotics; Robots; anthropomorphic robotic arm; 3D gaze estimation; corneal refraction; head-mounted gaze tracker; differential joint; posture error compensation

As humans and robots work closer together than ever, anthropomorphic robotic arms with intuitive human-robot interaction interfaces have drawn massive attention to improving the quality of robot-assisted manipulation. In pursuit of this, we designed a dedicated 7-degrees-of-freedom (DoF) anthropomor...