Design of an optical sensor system for robots inspired by the human eye

The development of autonomous motion capability by robotic systems, particularly in dynamic environments, is strongly related to the sensor systems installed in the robot. An important feature of these sensors should be their ability to detect the world in the same way as humans do. This paper focuses on the design of a prototype of a robotic eye, or optical sensor, which has functional characteristics similar to those of the human eye and complies with two Degrees of Freedom (DOF) in its movement. In addition to this, the entire design process of the parts is documented with computer-aided design (CAD) support, the manipulation software, and the programming structure used to control it. The performance tests performed and the analysis of the results obtained demonstrate the total fulfillment of the proposed objectives, which were even surpassed.