S2 Humanoid Head S2 Humanoid Head S2 Humanoid Head S2 Humanoid Head S2 Humanoid Head S2 Humanoid Head

S2 Humanoid Head: Aesthetic Design meets Expressive Function

The Meka S2 Humanoid Head is a seven degree-of-freedom robotic active vision head. Designed for a wide range of expressive postures, it is the ideal platform for researchers interested in human-robot interaction and social robotics. The S2 system features high resolution FireWire cameras in each eye, integrated DSP controllers, zero-backlash Harmonic Drive gearheads in the neck, and Meka M3 and ROS software stacks

Meka’s  industrial design team works with you to individualize the look and feel of your S2 shells. We can customize the design to include expressive eyelids, ears, and additional sensor capabilities.

Features

The S2 can be desktop mounted or easily installed on to the Meka A2 chest. It includes complete dynamic parameters, ROS URDF descriptions, and M3 and ROS programming interfaces. The S2 eye mechanism has very low inertia and high dynamic peformance, allowing for excellent smooth-pursuit and eye saccades.

  • 7 DOF
  • Zero-backlash Harmonic Drives on lower 4 DOF
  • High dynamic performance 3 DOF eye-mechanism
  • Absolute encoders for calibration free operation
  • Point Grey Firefly MV cameras for each eye
  • Calibration free absolute encoders
  • Head shells customized per client request
  • Additional expressive features and sensors available
  • Meka M3 and ROS software stacks

The S2 kinematics are summarized as:

  • Lower Neck Tilt
  • Lower Neck Pan
  • Upper Neck Roll
  • Upper Neck Tilt
  • Combined Eye Tilt
  • Right Eye Pan
  • Left Eye Pan
Total DOF7+
InterfaceM3 EtherCAT
Power24V@6A peak
Weight7.6 Kg
Angular Resolution.022 degree
Camera1328 x 1048 at 23 FPS