Control Design of Extra Occular Muscle of Gimbal Based Robotic Eye

In a dynamic social environment fast eyeball movement is much needed to recognize and track the fast-moving stimulus. To track the fast-moving stimulus high decoupling from the camera sensor to the robotic head skeleton is required. To achieve a high decoupling ratio we are using the 2 Axis Gimbal s

Project Title

Control Design of Extra Occular Muscle of Gimbal Based Robotic Eye

Project Area of Specialization

Electrical/Electronic Engineering

Project Summary

In a dynamic social environment fast eyeball movement is much needed to recognize and track the fast-moving stimulus. To track the fast-moving stimulus high decoupling from the camera sensor to the robotic head skeleton is required. To achieve a high decoupling ratio we are using the 2 Axis Gimbal system. Two Axes Gimbal system decouple the camera sensor in a robotic eye as the extra-ocular muscle decouple the eyeball from human head. The gimbal-based robotic eye will track the fast-moving stimulus as well as eliminate the torque disturbances acted upon the system. To control robotic eye and track the fast moving stimulus, we are using a microcontroller that programs the ESP-32 CAM. ESP-32 CAM will give a feedback signal to the servo motors that will power the two axis Gimbal system that will move the camera in the direction of the targeted object. The ESP-32 CAM is programmed using Arduino UNO using C language. The use of gimbal system not only help in fast tracking, it can track stimulus using simple camera sensor with better tracking performance then the existing robotic eyes. One of the most important point is that with gimbal system robots will be able to track targets like human, i.e. without head movement.In a dynamic social environment fast eyeball movement is much needed to recognize and track the fast-moving stimulus. To track the fast-moving stimulus high decoupling from the camera sensor to the robotic head skeleton is required. To achieve a high decoupling ratio we are using the 2 Axis Gimbal system. Two Axes Gimbal system decouple the camera sensor in a robotic eye as the extra-ocular muscle decouple the eyeball from human head. The gimbal-based robotic eye will track the fast-moving stimulus as well as eliminate the torque disturbances acted upon the system. To control robotic eye and track the fast moving stimulus, we are using a microcontroller that programs the ESP-32 CAM. ESP-32 CAM will give a feedback signal to the servo motors that will power the two axis Gimbal system that will move the camera in the direction of the targeted object. The ESP-32 CAM is programmed using Arduino UNO using C language. The use of gimbal system not only help in fast tracking, it can track stimulus using simple camera sensor with better tracking performance then the existing robotic eyes. One of the most important point is that with gimbal system robots will be able to track targets like human, i.e. without head movement.

Project Objectives

Goal:

• To use a gimbal system in a robotic eye for fast tracking of stimulus. The purpose is to use the decoupling property of gimbal system.
• To control the Gimbal based robotic eye by controlling torque disturbances and dynamic unbalances and track the fast moving stimulus.

Objectives:

1. To design a mathematical model of the Gimbal Based Robotic Eye to identify the magnitude of the torque disturbances and dynamic unbalances.
2. To design a CAD model using state space model designed in the mathematical modeling of the Gimbal system.
3. Programming the ESP-32 CAM to control the movements of the servo motors in the direction of the observed objects.
4. Designing a hardware model of 2 Axis Gimbal system based on the CAD model.
5. Placing the camera sensor in the pitch axis of the Gimbal and connecting the servo motors to the Yaw and pitch channels.
6. Finishing a working model for our project.

Project Implementation Method

First of all, we have studied this project. We studied the research papers about this project. We collected and analyzed the data. We decided and start working on this project. We created a mathematical model of the gimbal system that included determining the torque disturbances and the effect of the two gimbal axes on each other. We evaluated the state-space equations and created a state-space model. We used the state-space model to design a 3D CAD model using AutoCAD and simulated it using AutoCAD Design Review. We programmed the ESP-32 CAM using a microcontroller. We designed a hardware model for the 2 Gimbal Hardware using the 3D CAD model. We connected the servo motors and ESP-32 CAM to the 2-Axis Gimbal Hardware. To power the system we used a DC power supply. At last, we tested the finished project.

Benefits of the Project

In a social environment, there are a lot of fast-moving objects with that a robot can interact. Conventional robots cannot track and recognize the fast-moving stimulus with the speed of a human eye. We want to design a robotic eye that can track and recognize fast-moving objects with a high-decoupling ratio (ability to differentiate between different objects). This will be achieved using the 2 Axis Gimbal system. This will help any type of robot to effectively communicate with people and objects in a real environment. This will help us to achieve fast, reliable, and effective human-robot communication. The gimbal-based robotic eye can be used for security purposes. Our eye is modeled on the real human eye. The gimbal-based robotic eye is suitable for humanoid robots.

• The use of gimbal system not only help in fast tracking, it can track stimulus using simple camera sensor with better tracking performance then the existing robotic eyes.
• With Gimbal based robotic eye robots will be able to track targets like human, i.e. without head movement.
• The Gimbal Based Robotic eye can be used for any humanoid robot.
• It can be used for robots used in automobile and engine manufacturing companies.
• It can be used by humanoid robots used by Police and other law enforcement agencies since it will be able to detect the fast moving objects with high degree of efficiency.
• It can be used in self-driving cars; It would cut the cost since is much cheaper as compared to existing cameras.
• It can be used for military purposes

Technical Details of Final Deliverable

Extra-Ocular Muscle:

2 Axis Gimbal Hardware 

Camera Sensor:

AI-Thinker ESP32 CAM

Microcontroller:

Arduino UNO

Motors:

5V Servo Motors

Final Deliverable of the Project

Hardware System

Core Industry

Security

Other Industries

IT , Media

Core Technology

Robotics

Other Technologies

Artificial Intelligence(AI)

Sustainable Development Goals

Industry, Innovation and Infrastructure

Required Resources

If you need this project, please contact me on contact@adikhanofficial.com