An Active Vision System with Facial Expression

In recent decades, active vision systems have been studied widely because they can control the gaze direction of their mounted vision sensors and overcome many shortcomings of passive vision systems which have fixed vision sensors. Due to an increasing interest in humanoid robots and social robots, many researchers in the active vision area are focusing their research on developing active vision systems with socially interacting with humans. In this paper, we discuss an active vision system developed for interaction with humans, and we introduce a fast and simple system architecture which includes a high-speed serial communication bus (IEEE 1394a). In addition, we propose a distributed and jerkbounded control algorithm to ensure smooth system motion.