Lab 20b: Servoing to a face

Now that we have real, interesting perceptual information to work with, we can close the loop and use this information to make Kuri look at a person. This kind of robotic control is sometimes referred to as visual servoing

Make Kuri look at a person

Modify your face_detection_demo.py so that whenever a face is detected, it will attempt to center the detection in the middle of the frame.

You should be able to accomplish this with a very simple control policy. For instance,

if face_below_middle_of_frame:
    tilt_up()
else if face_above_middle_of_frame:
    tilt_down()
...

• Your controller should stop at some point when the face is "close enough" to centered
• Don't worry too much about what to do when the robot can't see any faces at all. It can sit still in this case
• Consider implementing a simple proportional controller if you find that a simple case-based policy doesn't work well.