Three-Dimensional Gaze Control of Robots for
Navigation and Object Manipulation
Songpo Li and Xiaoli Zhang
Summary: A control system to guide robots for navigation and object manipulation that uses
3D eye tracking
Description: A three-dimensional (3D) gaze-based robot control system has been developed to
guide robots for navigation and object manipulation. In this method, individuals can use their
eyes to operate assistive robots for identifying, approaching, and manipulating target objects.
Eye movements are highly correlated with motor intentions and cognition interests.
Furthermore, eye movements are often retained by motor impaired people. Thus, eye tracking
provides an intuitive, effortless, and effective communication signal directly relevant for robots.
The system provides a new strategy to determine the position of the target object by
monitoring 3D gaze, provides a novel approach to differentiate normal behavioral eye
movements from intentional eye “commands”, and provides a natural and effective strategy to
use eye gaze data to create robot operation commands.
Main Advantages of this Invention
 Provides a natural interface between the user and the robot
 Provides a control system for mobility and speech impaired users
 Improved accuracy and range of use over other technologies
Potential Areas of Application
 Medical Applications
 Military and Aerospace
 Manufacturing
 Gaming
 Virtual Reality
ID number: 15005
Intel ectual Property Status: US provisional patent filed
Opportunity: We are seeking an exclusive or non-exclusive licensee for marketing,
manufacturing, and sale of this technology.
For more information contact:
William Vaughan, Director of Technology Transfer
Colorado School of Mines, 1500 Illinois Street, Guggenheim Hall Suite 314, Golden, CO 80401
Phone: 303-384-2555; e-mail: