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

Design and Evaluation of a Bioinspired Tendon-Driven 3D-Printed Robotic Eye with Active Vision Capabilities