An eye and neck coordination strategy based on Jacobi matrix

Abstract

In order to research the effect of eye and neck rotational velocity on tracking accuracy in the process of target tracking of humanoid vision system, an optimal method of angle decomposition was be proposed based on the Jacobi matrix. By establishing mathematical model, the relationship between rotational angular velocity and decomposition angle is proposed. Through simulation and physical experiments, the relationship between angle of decomposition and rotational angular velocity is approximately linear. Compared with the equalization method, with the increase of angle and angular velocity, the time efficiency of method proposed in this paper increases. The work in this article provides basis for control scheme of target tracking for humanoid vision system.