CHAO-CHIEH LANLee, YichiaoYichiaoLeeJiang, JinnfengJinnfengJiangChen, YijieYijieChenWei, HungyuanHungyuanWei2025-09-242025-09-242011https://www.scopus.com/inward/record.uri?eid=2-s2.0-84455207875&doi=10.1109%2FIROS.2011.6048056&partnerID=40&md5=5e2dc93cc3daaf28bc93cc8956b70e42https://scholars.lib.ntu.edu.tw/handle/123456789/7324552011 IEEE/RSJ International Conference on Intelligent Robots and Systems: Celebrating 50 Years of Robotics, IROS'11. San Francisco, CA. conference code:87712This paper presents the design and prototype of a camera-orienting mechanism. Bio-inspired actuators and mechanisms have been developed to pan and tilt a camera with comparable characteristics as a human eye. To meet the stringent space/weight requirement of mobile robotic applications, a compact camera-orienting mechanism is proposed. We specifically aim at matching the size of a human eye. Through the arrangement of two parallel placed actuators and flexible mechanisms, uncoupled pan and tilt motions can be provided in a smaller space. The flexible mechanisms utilize the deflection of flexible beams to replace the kinematic joints; thus they have fewer parts and can be easily rescaled to fit a smaller space. After a formulation to find the optimal mechanism configuration, the design is verified by implementing a prototype. The novel orienting mechanism is expected to serve as an alternative for robotic vision devices.Active VisionCamera-orienting DeviceFlexible MechanismsMulti-degree-of-freedom-actuationActive VisionBio-inspired ActuatorsCamera-orienting DeviceFlexible BeamFlexible MechanismsHuman EyeKinematic JointsMobile RoboticMulti-degree-of-freedom-actuationOptimal MechanismRobotic VisionTilt MotionActuatorsCamerasDegrees Of Freedom (mechanics)Flexible StructuresIntelligent RobotsMachine DesignRoboticsComputer Visionconference paper10.1109/IROS.2011.60480562-s2.0-84455207875