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微生物模拟眼球用于人形机器人:基于原木机制的高密度功能集成视觉系统

Junji Pu^1,2, Yang Chen^1,2, Yulie Wu^1,2

¹College of Intelligence Science and Technology, National University of Defense Technology, Changsha, 410073, China.

Advanced science (Weinheim, Baden-Wurttemberg, Germany)

|October 17, 2025

概括

研究人员使用原木机制开发了一种微型仿生眼球系统 (BES). 这种轻量级,紧的人工眼睛为机器人提供了类似人类的视觉,动态视野调整和智能目标跟踪.

科学领域:

机器人与人工视觉机器人与人工视觉
仿生学和生物启发工程
微型化系统和机制

背景情况:

人形机器人需要先进的生物视觉系统 (BVS),模仿人类的眼睛功能.
现有的电机 BVS 在小型化,减重和集成功能方面面临挑战,例如动态视野调制 (FOV) 和目标跟踪.

研究的目的:

开发一个微型的微型人造眼球系统 (BES),具有集成的光学成像,动态FOV调制和智能目标跟踪.
克服传统BVS中小型化和功能完整性之间的权衡.

主要方法:

利用一个微型原木机制 (MOM) 创建一个仿生眼球系统 (BES) 与三个自由度 (DOFs).
集成光学成像,动态FOV调整和智能目标跟踪功能.
在FOV范围,尺寸,重量,移动速度 (摇摆,平稳追逐) 和目标识别/追踪方面的评估性能.

主要成果:

实现了超过151.6°×151.6°的宽单眼FOV,与人眼特征相匹配.
展示了紧的尺寸 (Φ23 mm × 15 mm) 和超轻的设计 (1.8 g).
展示了高速冲刺 (4382°/s) 和平滑追逐 (532°/s) 的成像,以及通过视觉注意力机制有效的目标识别和跟踪.

结论:

新的BES成功地整合了空间适应性,运动兼容性和认知决策.
该系统克服了传统BVS的局限性,为先进的机器人视觉提供了可行的解决方案.
仿生方法在高度小型化和轻量级的包装中提供类似人类的视觉性能.

关键词:

生物仿真眼球系统生物视觉系统生物视觉系统微光机电系统微光机电系统原创机制的原创机制.

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