Simulator for the OREO robotic head

Abstract

Eye movements are essential to human vision, and may become increasingly important in robots as their visual sophistication increases. We previously developed OREO, the first robotic head that matches the human visual system in eye movement velocity, range of motion, and stereo baseline. The programming and training of robots is greatly facilitated by simulation, but no simulator has been available for OREO so far. A useful simulator for OREO must provide realistic and varied visual input, in addition to modelling its motion physics. Here we present an OREO simulator that combines a physics model, implemented in PyBullet, with visual stimuli from AI Habitat. We briefly describe an example application and future work.