Micro Biomimetic Eyeball for Humanoid Robots: A Visual System with High-Density Functional Integration Based on an...

Area of Science:

• Robotics and Artificial Vision
• Biomimetics and Bioinspired Engineering
• Miniaturized Systems and Mechanisms

Background:

• Humanoid robots require advanced bionic vision systems (BVSs) mimicking human ocular functions.
• Existing electromechanical BVSs face challenges in miniaturization, weight reduction, and integrated functionalities like dynamic field-of-view (FOV) modulation and target tracking.

Purpose of the Study:

• To develop a gram-weight miniature artificial eyeball system (BES) with integrated optical imaging, dynamic FOV modulation, and intelligent target tracking.
• To overcome the trade-off between miniaturization and functional integrity in traditional BVSs.

Main Methods:

• Utilized a miniature origami mechanism (MOM) to create a biomimetic eyeball system (BES) with three degrees of freedom (DOFs).
• Integrated optical imaging, dynamic FOV adjustment, and intelligent target tracking capabilities.
• Evaluated performance in FOV range, size, weight, movement speed (saccade, smooth pursuit), and target recognition/tracking.

Main Results:

• Achieved a wide monocular FOV exceeding 151.6° × 151.6°, matching human eye characteristics.
• Demonstrated a compact size (Φ23 mm × 15 mm) and ultra-lightweight design (1.8 g).
• Exhibited high-speed saccade (4382°/s) and smooth pursuit (532°/s) imaging, along with effective target recognition and tracking via visual attention mechanisms.

Conclusions:

• The novel BES successfully integrates spatial adaptability, motion compatibility, and cognitive decision-making.
• This system overcomes the limitations of traditional BVSs, offering a viable solution for advanced robotic vision.
• The biomimetic approach provides human-like visual performance in a highly miniaturized and lightweight package.