Robot motion control with human eye command

The robot motion control with human eye command is proposed in this research. The proposed system realizes a viewing system controlled by operator eye command which is able to move the camera equipped at robot arm to capture the scene from environment in accordance with position where the operator intent to see. The eye command interpretation includes the estimation of eye viewing director (eye gaze) to obtain the eye viewing position on computer screen as motion command, and eye blinking measurement to obtain the motion decision. The motion command is used to determine where the robot should move to (and the camera attached at the robot should point to). The motion decision is used to determine the starting time of robot to move to a new position. An image based visual servoing strategy with velocity limiter is applied to obtain high performance of motion and to minimize the blur effect when camera captures image.