The field of robotics has seen significant advancements in recent years, particularly in the development of humanoid robots. One area of research that has yet to be fully explored is the design of robotic eyes. In this paper, we propose a computer-aided 3D design scheme for a robotic eye that incorporates realistic appearance, natural movements, and efficient actuation. The proposed design utilizes a tendon-driven actuation mechanism, which offers a broad range of motion capabilities. The use of the minimum number of servos for actuation, one for each agonist-antagonist pair of muscles, makes the proposed design highly efficient. Compared to existing ones in the same class, our designed robotic eye comprises aesthetic and realistic features. We evaluate the robot's performance using a vision-based controller, which demonstrates the effectiveness of the proposed design in achieving natural movement, and efficient actuation. The experiment code, toolbox, and printable 3D sketches of our design have been open-sourced.

翻译：近年来，机器人领域取得了显著进展，尤其是在类人机器人的开发方面。机器人眼的设计作为尚未充分探索的研究方向之一，本文提出了一种计算机辅助的3D设计方法，旨在实现逼真外观、自然运动与高效驱动的融合。该设计采用肌腱驱动机制，具备大范围运动能力。通过为每对拮抗肌配置单个舵机的最小化驱动方案，显著提升了设计效率。相较于同类现有设计，本机器人眼兼具美学与真实感特征。我们基于视觉控制器对机器人性能进行了评估，验证了该设计在实现自然运动与高效驱动方面的有效性。实验代码、工具库及可打印3D设计草图均已开源。