Inertial sensors will be mounted on the head to measure body motions. Linear velocity is obtained by integrating linear accelerations and linear and angular positions are obtained by integrating the correspondent velocities. This technique provides good results for transient and rapid head motions. Encoders are used to measure rotations of the neck and eyes joints. One encoder is placed attached to the shaft of each revolute joint motor, to measure angular velocity.
Angular position is obtained integrating the velocity measurements.
The problem of stabilization consists of compensating body movements by moving the head so that the target is always on the foveal image viewed from the eyes. Therefore, instead of moving first the eyes to compensate for body motions, and then moving the neck along the direction defined by the cyclope eye of the head and the target, it is preferred to move neck and eyes simultaneously. Working Model 3D simulations for the Head model A Genetic Algorithm was implemented to solve for the 3 extra degrees of freedom due to redundancy.