The spanish humanoid being developed at UPM



Neck mechanism

The neck and the head have 7 DOF, 3 for the neck and 2 for each eye.

The whole system is runned by a raspberry pi. 

Each eye has a USB camera built in.


The Eye

Eye mount
eye mount v4

This is the 4th ersion of the eye mount. The red part is 3D printed and is where the camera is attached to. The 2 blue bearings are connected through rods to the micro servos. The central bearings serves as the center of rotation to the entire eye.